A real time haptic simulator of spine surgeries

Xing, Qi; Chen, Jim X.; Li, Jihui; Moshirfar, Ali; Theiss, Mark M.; Wei, Qi

doi:10.1145/2821592.2821613

Cited by 6 publications

(3 citation statements)

References 16 publications

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“…In another study, Xing et al [53] used the Phantom haptics device as the probe to simulate the pedicle insertion process. Spine modelling and collision detection are two important aspect of this paper.…”

Section: Existing Research On Virtual Reality Scolisis Surgerymentioning

confidence: 99%

Pedicle Screw Insertion Surgical Simulator

Zeller

Wang

et al. 2018

Lecture Notes in Computer Science

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Scoliosis is a sideway spinal deformity. If the curvature is measured to be more than 50 degrees, the patient can feel significant discomfort. In such cases, surgery is required to straighten the spine. Pedicle screw insertion is a common procedure for scoliosis surgery.The technique requires the placement of screws from the pedicle into the spine. A rod is used to connect all the pedicle screws. The spine is straightened during the connection process. One of the most common techniques used for pedicle screw insertion is called the free hand technique. During free hand surgery, the surgeon creates a screw channel by manually probe into the spine. The lack of visual aid requires the surgeon to rely strongly on haptics feedback. Due to the spine sensitivity and the limited operating range, small changes in force or direction can cause the probe to breach out of the spine. If the breach reaches the spine medial, the spinal cord could be damaged. Even experienced surgeons can not prevent breach. Studies have found that surgeons with 5 or more years of surgical experience have a breach rate of 10.8 %.In this thesis, pedicle screw insertion simulator is developed and examined in detail. The simulator combines visual and haptics sensation to recreate the channel creation process of the surgery. A 2DOF mechanical device is used for the haptics sensation. The device includes a linear actuator and a rotary motor. The simulator was tuned to four different surgical scenarios by 2 expert surgeons. The scenarios are soft probing, hard probing, lateral breach, and in-out-in breach. 10 additional surgeons were asked to participant in a clinical study. Measurements were collected for analysis. The focus of the study is to find if the surgeon can recognize the simulated breach scenarios. Four research questions were examined, and they are: 1. Can experience help the surgeon improve correct breach recognition rate? 2. Can experience help the surgeon improve overall correct recognition rate? 3. Is there any performance difference between surgeons with different experience iii level? 4. Can the simulation trials become a learning tool for the simulation tasks?Each question has its own null hypothesis and statistical analysis is used to determine if the null hypothesis is rejected. The main conclusion is that there is no statistically significant relationship between the wrong breach or total wrong recognition rate and surgical experience. Furthermore, there is statistically significant in hard probing scenario between surgical experience and vertical force variance. Lastly, ANOVA analysis showed that the breach force and velocity in three trials are close to statistically significant, more data may prove that the simulator can be a training tool for the tasks. Lastly but most importantly, I appropriate his endless knowledge and kind mentorship that helped me completing this thesis.

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Section: Existing Research On Virtual Reality Scolisis Surgerymentioning

confidence: 99%

Pedicle Screw Insertion Surgical Simulator

Zeller

Wang

et al. 2018

Lecture Notes in Computer Science

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“…Li et al [8] showed a strong correlation between the gray values of CT image and the bone density, which is one of the most important parameters for calculating the feedback force of the bone drilling operation. Xing et al [9] came up with a bone modeling method based on a CT image by mapping the grayscale information, of the CT image, to the corresponding bone density to establish a precise physical bone model. This method can match the characteristics of the material to the internal data information of the bone model so that an anisotropic physical bone model can be established.…”

Section: Related Workmentioning

confidence: 99%

Improved simulation of virtual bone drilling surgery with a voxel-based model

Wang¹,

Lin²,

Chen³

et al. 2018

EasyChair Preprints

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Virtual surgery simulation provides a safe, cost-effective and a repeatable alternative to traditional surgical training methods. The simulation is expected to not only simulate the graphical changes in the surgery, but also to provide a haptic response via a force feedback device. The objective of this study is to develop a virtual bone drilling simulation system and focus on the key issues that limit surgical simulations like the virtual bone drilling of spine surgery. A voxel-based bone model is developed and the algorithms (based on the model) are presented in this work. To provide operators with a realistic environment, dual thread technology is used for graphic and haptic rendering of the virtual bone drilling simulation. Such a surgical simulation system can be very helpful in surgical training.

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“…We build the force model (18) as shown in Figure 6 in which the circle is the cross section of the sphere, is the tool vector, the yellow colored voxels are the surface voxels of the sphere and the green colored voxels are the voxels inside the sphere. The calculation of the force of each voxel is given by * * * ,…”

Section: Force Simulationmentioning

confidence: 99%

A Force Feedback Pedical Screw Impantation Surgical Trainer with Automatic Vertebra Segmentation

Chen

Kuok

Hsu

et al. 2016

Proceedings of the 4th IIAE International Conference on Intelligent Systems and Image Processing 2016

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The spine is one of the most important parts of the human body. Spine diseases owning to aging or injuries would be treated by spine surgeries. However, the surgeries are highly dangerous and the surgical training can increase the success rate. In this paper, an interactive surgical simulation system for the training of pedicle screw implantation is introduced. We propose an automatic and efficient method to segment the vertebra from the CT images for building the vertebra model. The mean shift method which can cluster points having similar property into groups is used in data clustering. The clustered groups related to the bone region are chosen as the initial model. And then, we apply the Chan-Vese level set method which refines the vertebra contour by using the concepts of statistics. After segmentation, we then apply the marching cube algorithm to generate the 3D vertebra model, and pass it to a virtual surgical environment. A haptic device is adopted to interact with this model to fulfill the surgical simulation in the virtual environment. The average dice coefficient of the segmentation results is 0.92.

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A real time haptic simulator of spine surgeries

Cited by 6 publications

References 16 publications

Pedicle Screw Insertion Surgical Simulator

Pedicle Screw Insertion Surgical Simulator

Improved simulation of virtual bone drilling surgery with a voxel-based model

A Force Feedback Pedical Screw Impantation Surgical Trainer with Automatic Vertebra Segmentation

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