Abstract
With rapid development of minimally invasive surgery, proficiency with intricate skills is becoming a greater concern. Consequently, the use of out-of-operating room training has increased significantly through employing high-fidelity and anatomically-correct graphics and haptic interfaces in virtual reality simulations. The effort in developing surgical simulators for generic minimally invasive procedures is still, however, suboptimal for many haptic implementations. A main aspect of such simulations is the pivoting behavior of the surgical tool realized using the haptic device. This paper investigates the limitation of a fully-virtual implementation of the pivot and the ability to augment haptic interfaces to achieve a natural representation of forces. The design and implementation of two surgical tool pivoting techniques are introduced. Furthermore, a phantom is constructed from synthesized components to be used to measure and reproduce realistic mechanical properties of the anatomical model and pivot behavior.
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Obeid, M.F., Chemlal, S., Rechowicz, K.J., Heo, Es., Kelly, R.E., McKenzie, F.D. (2014). Improvement of a Virtual Pivot for Minimally Invasive Surgery Simulators Using Haptic Augmentation. In: Linte, C.A., Yaniv, Z., Fallavollita, P., Abolmaesumi, P., Holmes, D.R. (eds) Augmented Environments for Computer-Assisted Interventions. AE-CAI 2014. Lecture Notes in Computer Science, vol 8678. Springer, Cham. https://doi.org/10.1007/978-3-319-10437-9_8
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DOI: https://doi.org/10.1007/978-3-319-10437-9_8
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-10436-2
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