Evaluation of Direct Haptic 4D Volume Rendering of Partially Segmented Data for Liver Puncture Simulation

Abstract

This work presents an evaluation study using a force feedback evaluation framework for a novel direct needle force volume rendering concept in the context of liver puncture simulation. PTC/PTCD puncture interventions targeting the bile ducts have been selected to illustrate this concept. The haptic algorithms of the simulator system are based on (1) partially segmented patient image data and (2) a non-linear spring model effective at organ borders. The primary aim is to quantitatively evaluate force errors caused by our patient modeling approach, in comparison to haptic force output obtained from using gold-standard, completely manually-segmented data. The evaluation of the force algorithms compared to a force output from fully manually segmented gold-standard patient models, yields a low mean of 0.12 N root mean squared force error and up to 1.6 N for systematic maximum absolute errors. Force errors were evaluated on 31,222 preplanned test paths from 10 patients. Only twelve percent of the emitted forces along these paths were affected by errors. This is the first study evaluating haptic algorithms with deformable virtual patients in silico. We prove haptic rendering plausibility on a very high number of test paths. Important errors are below just noticeable differences for the hand-arm system.

Development of a quantitative evaluation system for visuo-motor control in three-dimensional virtual reality space

“…Thus, not only the visuo-motor control, but also proprioception can be quantitatively evaluated 32 . Furthermore, spatial and/or force JND of the hand-arm system can be considered as one of the perception evaluation parameters in our future experiments 33 , 34 . For example, it can be used for quantitative evaluation in the development of rehabilitation system for stroke patients.…”

Robust GPU-based virtual reality simulation of radio-frequency ablations for various needle geometries and locations

“…In the 4D simulation of a liver puncture, the movement of the thorax, and here mainly the diaphragm and upper abdomen, during breathing is taken into account [8,19]. The simulated temperature images are deformed in the reference coordinate space X with a diffeomorphic motion vector fieldû into the breathing motion's curved coordinate space x ( Fig.…”

“…Currents from a radio-freqency generator heat up the tissue around the needle tip. Within the 4D VR needle ablation simulator from our group [8,19,23,16,5,6], we use an efficiently parallel calculable temperature model [31] specialized to liver lesions. The new GPU-based algorithm also compares qualitatively (patient safety) favorable to the literature [13,14] and theoretical characteristics.…”

Data-Driven Modeling and Rendering of Force Responses from Elastic Tool Deformation

“…Kaluschke et alcomputed interaction forces between mesh object and streaming point clouds based on interpenetration volume [ 16 ]. In [ 10 , 17 ], the authors developed and evaluated a visuo-haptic framework that employs the direct volume rendering concept over the partially segmented CT images.…”