Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

doi:10.1007/s12204-021-2295-3

J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (3): 290-297.doi: 10.1007/s12204-021-2295-3

Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

JING Mengjiea (荆梦杰), CUI Zhixina (崔志鑫), FU Hanga (傅航), CHEN Xiaojuna,b (陈晓军)

(a. Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of
Mechanical System and Vibration, School of Mechanical Engineering; b. Institute of
Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China)

出版日期:2021-06-28 发布日期:2021-06-02
通讯作者: CHEN Xiaojun(陈晓军) E-mail:xiaojunchen@sjtu.edu.cn
基金资助:
the National Key Research and Development
Program of China (No. 2017YFB1302900),
the National Natural Science Foundation of China
(Nos. 81971709, M-0019, and 82011530141), the Foundation
of Science and Technology Commission of Shanghai
Municipality (Nos. 19510712200, and 20490740700),
and the Shanghai Jiao Tong University Foundation
on Medical and Technological Joint Science
Research (Nos. ZH2018ZDA15, YG2019ZDA06, and
ZH2018QNA23), and the 2020 Key Research Project of
Xiamen Municipal Government (No. 3502Z20201030)

Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

JING Mengjiea (荆梦杰), CUI Zhixina (崔志鑫), FU Hanga (傅航), CHEN Xiaojuna,b (陈晓军)

(a. Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of
Mechanical System and Vibration, School of Mechanical Engineering; b. Institute of
Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China)

Online:2021-06-28 Published:2021-06-02
Contact: CHEN Xiaojun(陈晓军) E-mail:xiaojunchen@sjtu.edu.cn
Supported by:
the National Key Research and Development
Program of China (No. 2017YFB1302900),
the National Natural Science Foundation of China
(Nos. 81971709, M-0019, and 82011530141), the Foundation
of Science and Technology Commission of Shanghai
Municipality (Nos. 19510712200, and 20490740700),
and the Shanghai Jiao Tong University Foundation
on Medical and Technological Joint Science
Research (Nos. ZH2018ZDA15, YG2019ZDA06, and
ZH2018QNA23), and the 2020 Key Research Project of
Xiamen Municipal Government (No. 3502Z20201030)

摘要/Abstract

摘要： Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive abdominal surgery, where deformable soft tissue is modelled and simulated. The mass-spring model (MSM) and finite element method (FEM) are common methods used in the simulation of soft tissue deformation. However, MSM has an issue concerning accuracy, while FEM has a problem with efficiency. To achieve higher accuracy and efficiency at the same time, we applied a co-rotational FEM in the simulation of a kidney with a tumour inside, achieving a real-time and accurate deformation simulation. In addition, we set a multi-model representation for mechanical simulation and visual rendering. The implicit Euler method and conjugate gradient method were adopted for setting and solving the linear system. For a realistic simulation of surgery, constraints outside the kidney and between the kidney and tumour were set with two series of mechanical properties for the two models. Experiments were conducted to validate the accuracy and real-time performance.

Abstract: Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive abdominal surgery, where deformable soft tissue is modelled and simulated. The mass-spring model (MSM) and finite element method (FEM) are common methods used in the simulation of soft tissue deformation. However, MSM has an issue concerning accuracy, while FEM has a problem with efficiency. To achieve higher accuracy and efficiency at the same time, we applied a co-rotational FEM in the simulation of a kidney with a tumour inside, achieving a real-time and accurate deformation simulation. In addition, we set a multi-model representation for mechanical simulation and visual rendering. The implicit Euler method and conjugate gradient method were adopted for setting and solving the linear system. For a realistic simulation of surgery, constraints outside the kidney and between the kidney and tumour were set with two series of mechanical properties for the two models. Experiments were conducted to validate the accuracy and real-time performance.

中图分类号:

R 318
TP 391

JING Mengjie (荆梦杰), CUI Zhixin (崔志鑫), FU Hang (傅航), CHEN Xiaojun (陈晓军). Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(3): 290-297.

JING Mengjie (荆梦杰), CUI Zhixin(崔志鑫), FU Hang (傅航), CHEN Xiaojun (陈晓军). Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(3): 290-297.

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Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

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