Knee Arthroscopy Simulation
We have developed a knee arthroscopy simulation system that incorporates visualization, haptics, and computer modeling as a research testbed for new technologies in surgical simulation. The most recent prototype uses models generated from hand-segmented high resolution 3D Magnetic Resonance Image data. Volumetric models are used for computer modeling and for haptics while decimated surface models are used for interactive rendering using polygon rendering hardware on an SGI Onyx2 with Infinite Reality graphics. The system was demonstrated at the IEEE Visualization conference in October, 1998.
Background & Objective: Surgical simulation has the potential to enhance surgical training, to reduce patient risk by enabling pre-surgical planning on patient-specific models, and to provide intra-operative guidance during difficult surgical procedures. However, many technical challenges remain before surgical simulators can achieve this potential. The goal of this collaborative project is to develop a testbed for new algorithms and technologies in surgical simulation. Knee arthroscopy was chosen as a basis for the system for a number of reasons, including the prevalence of knee surgeries in the United States, the restricted volume of the knee joint, and the importance, but limited volume, of soft tissue in the knee. Our goals include developing methods for high quality visualization, realistic haptic interactions, and dynamic modeling of deformation, cutting, and repair of soft tissues.
Technical Discussion: Models for the knee system were generated from hand-segmented Magnetic Resonance Image data. Four data sets have been acquired and segmented from the same subject. They include two sagittally sectioned images, an axially sectioned image, and an image volume acquired for a bent knee. Smooth surface models were generated from the segmented data using SurfaceNets, a technique developed at MERL for this project. These smooth surface models were then used to generate decimated triangle models for rendering, and distance-based volume models for detecting collisions between object models and for calculating probing forces for haptic feedback. To provide a more realistic interaction for the user, we have built an interface device which consists of a plastic knee model to help orient the user, an arthroscope with a telescoping mount whose position and orientation is tracked and used to control the camera of the graphics rendering system, and a force feedback device that provides haptic feedback. The force feedback device consists of a commercial Phantom from Sensible Devices and a custom device that adds two degrees of freedom to the Phantom's 3 degrees of force feedback. The combined device allows the user to feel forces and torque all along the shaft of the surgical probe rather than just at the tip of the probe.
Outside Collaborations: Massachusetts Institute of Technology's Artificial Intelligence Laboratory, Carnegie Mellon University's Robotics Institute, Brigham and Women's Hospital's Surgical Planning Laboratory
Contact: Joseph Katz
| Technical Reports: | |
| Simulating Arthroscopic Knee Surgery using Volumetric Object Representations, Real-Time Volume Rendering and Haptic Feedback | |
Technology Area: Graphics
Modification Date: September 12, 2007
