Ogata Masato, Dohi Yasunori, Yamada Takahiro, Kubota Yoshinobu
R & D Division, Mitsubishi Precision Co., Ltd., 345 Kamimachiya, Kamakura, Japan.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:6297-300. doi: 10.1109/EMBC.2012.6347434.
We developed a practical laparoscopic surgical simulator using co-rotated FEM in a linear scheme. This was somewhat of a compromise due to a strong constraint on real-time processing. The spread of surgical simulators and medical simulations for clinical medicine in the near future will impose important demands that cannot be met with this linear scheme. For example, subtle force sensing by forceps used for peeling connective tissues and moving blood vessels is very important for a preoperative surgical simulator, as is precisely predicting the deformation of organs with patient posture during surgery for torocar simulation and surgical navigation. We evaluated several models such as co-rotated FEM, nonlinear FEM, and the hyperelastic model for these advanced real-time medical applications. As a result, we confirmed that the hyperelastic model is the most suitable for the anticipated surgical simulator, and that the co-rotated FEM and nonlinear FEM score almost the same in both processing time and accuracy. In addition, implementation of the hyperelastic model in real time seems possible with current off-the-shelf PCs.
我们使用线性方案中的协同旋转有限元法开发了一种实用的腹腔镜手术模拟器。由于对实时处理有严格限制，这在一定程度上是一种折衷方案。在不久的将来，手术模拟器和临床医学医学模拟的普及将带来一些重要需求，而这种线性方案无法满足这些需求。例如，用于剥离结缔组织和移动血管的镊子的微妙力感测对于术前手术模拟器非常重要，精确预测手术过程中患者姿势下器官的变形对于胸腔镜模拟和手术导航也很重要。我们针对这些先进的实时医学应用评估了几种模型，如协同旋转有限元法、非线性有限元法和超弹性模型。结果，我们证实超弹性模型最适合预期的手术模拟器，并且协同旋转有限元法和非线性有限元法在处理时间和准确性方面得分几乎相同。此外，使用当前的现成个人电脑似乎可以实时实现超弹性模型。
