J Shanghai Jiaotong Univ Sci

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

• Medical 3D Printing and Personalised Medicine • Previous Articles     Next Articles

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

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)   

  1. (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)
  2. (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)

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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.

Key words: computer-assisted surgery, virtual reality, real-time simulation, finite element method (FEM), corotation
FEM

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.

关键词: computer-assisted surgery, virtual reality, real-time simulation, finite element method (FEM), corotation
FEM

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