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Real Time Simulation of Grasping Procedure of Large Internal Organs during Laparoscopic Surgery
Dehghani Ashkezari, Hossein | 2012
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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 43267 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Farahmand, Farzam; Firoozbakhsh, Keikhosrow
- Abstract:
- Surgical simulation systems facilitate a safe and efficient training process by providing a virtual environment in which the trainee can repeat the surgical procedure unlimitedly at different situations. The present study attempted to provide a real time simulation for the grasping procedure of a large internal organ during laparoscopic surgery. A mass-spring-damper model was employed to simulate the nonlinear viscoelastic large deformations of spleen tissue interacting with a triple-jaw large organ grasper. A novel collision detection algorithm was designed and implemented to determine the contact points between the tissue and the grasper jaws. The boundary conditions imposed at the contact nodes was considered to be force based, when the external pull force was higher than the tangential force interaction, and geometrical based if not. The efficacy of the model to calculate and render the grasper-spleen interactions in real time was examined in a number of simulations. The model could provide qualitatively acceptable results. The stress relaxation of the tissue was well simulated by the model. Also, the predictions for the tool-tissue interactions, including the slippage-free grasping and slippage included grasping, were reasonable for different coefficients of friction
- Keywords:
- Real Time ; Large Deformation ; Soft Tissues ; Laparoscopic Surgery ; Modeling ; Mass-Spring-Damper Model
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