Surgery simulation involves biological tissues, therefore it is essential to determine the deformation of the tissue while in contact with a surgical instrument. This is important to transfer a realistic picture of the tissue to the surgeon in real time. The problem is how to determine the interaction between the tissue and the tool. This requires a rigorous model of the material properties, an accurate simulation method to reflect the actual behavior of the tissue, and fast simulation results to enable the simulation of real-time interactive.
The organ dynamics model must be accurate, responsive and timely. Realistic visual deformation and haptic output of the simulator is essential for the success of its tele-robotic system. The surgeon must see and it is desirable to feel the organs presented by the simulator as if they were the actual organs of the patient. As an aside it should be noted that the daVinci robot does not provide significant, haptic the feel tissue. However, as part of this project it will add the capability, since haptic feedback has been demonstrated to mitigate some of the effects of the delay by virtue of the fact that the proprioceptive system is faster responding than vision. The output simulator is depending on the organ dynamic models.
The first requirement of the organ dynamic model of the biological system is accuracy; the force and deformation feedback of the simulated organ on which the surgeon is operating must be as close as possible to the actual patient organ. Secondly, the computation that is required to determine the simulated forces and deformation must be performed in a time interval that appears to the surgeon to be real time. The organ dynamic model must be capable of being quickly updated using the decompressed video feedback that provides corrections without haptic discontinuities or creating visual, that could disturb the surgeon.
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