Haptic simulator for training of Total Knee Replacement

Abstract

Abstract-This paper presents a new and improved orthopaedic surgery simulator. Its capabilities are to analyze, process and display medical images, to reconstruct several three-dimensional models and to integrate them into a virtual environment. The main contribution of this work is to present a new mixed model (surface and volumetric) that allows to simulate bone machining on real time. The application is based on open source software and it also incorporates haptic technology to improve users immersion. The haptic immersion is computed using a 3D-3D collision detector.The system consists of two stages; first, CT's images of a joint are analyzed, and a plan for intraoperative 3D sections is established. At next stage, the user integrates information from the different objects previously generated from the sectioned bones to interact with virtual models and prosthesis. Force rendering is computed using both the surface model and the volumetric model.The developed simulator is particularized on this paper to simulate the cutting of a bone and implementation of a prothesis in a Total Knee Replacement surgery intervention, although other surgical interventions are being modeled currently.

A review of computer‐assisted orthopaedic surgery systems

“…One system 70 has a simple structure, portability, and low cost and is more suitable for medical students to improve their basic skills in knee arthroscopic detection and triangulation. Several systems 27,62‐67 can train users, improve users' surgery skills and shorten users' learning curve, but they cannot distinguish between novice and expert users. The systems 27,65,67 has a tactile system that provides tactile feedback to the user.…”

“…Pinto et al 65 developed a patient‐specific orthopaedic surgery simulator called SITKHR (Simulation of Interventions in TKR and THR). The simulator can provide training for total knee replacement (TKR) and total hip replacement THR operations.…”

Towards hand-eye coordination training in virtual knee arthroscopy

“…Control module is responsible for collision detection and communicating with the modeling part of the system. Pinto et al [Pinto et al 2010] presented an orthopedic surgery simulator with a mixed surface and volumetric model that allows for simulation of bone machining in real time.…”

Simulación virtual con tecnología háptica: entrenamiento para la cirugía de rodilla

“…Hoy en día estos inconvenientes han sido resueltos gracias al modelamiento con elementos finitos, los cuales han permitido crear estructuras virtuales con una gran propiedad de realismo e inmersión. [5][6][7][8][9][10][11] En el desarrollo de estas herramientas es donde surge la tecnología háptica, pilar fundamental de nuestro sistema de entrenamiento. El uso de estos elemen tos virtuales fue registrado en 1997 cuando Gidson 6 presentó un sistema de simulación para artroscopia de rodilla usando una representación volumétrica y retroalimentación háptica.…”