Human-computer interactive simulation for the training of minimally invasive neurosurgery

摘要

The surgical training system presented in this paper provides the surgeon a virtual surgical practice environment for the robot assisted minimally invasive neurosurgery, which includes collision detection, deformation of soft issue and haptic rendering. The 3D model of the brain structure of the patient is reconstructed based on the 2D images. After the virtual robot move to the entrance pose that is planned by the user, it is fixed, and the user can control the virtual needle to insert into the virtual head to verify his planning. During needle insertion, the inner structure of patient head is displayed, and the resistance force between the needle and organs is calculated and reflected to surgeon by haptic device. An improved collision detection scheme is also proposed to meet the need of real time haptic rendering. Using this virtual training system, the surgeon can make virtual neurosurgery to take cost-effective practice and training.