virtual reality simulators for minimal invasive surgery training

Virtual Reality Simulators for Minimal Invasive Surgery Training

Shamyl Bin Mansoor, SMART Lab, SEECS, NUST, Islamabad

School of Electrical Engineering & Computer Science, National University of Sciences & Technology, Pakistan1

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Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

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About the Team• School of Electrical Engineering & Computer Science

– Dr Osman Hasan, Project Director– Dr Muddassir Malik Co-PI,– Dr Arshad Ali, DG, SEECS, NUST– Shamyl Bin Mansoor, Co-PI– Researchers– Zaheer Mukhtar (Software Engineer)– Taimur Hassan (Mechanical Engineer)– Farrukh Hijaz (Electrical Engineer)

• Holy Family Hospital, Rawalpindi– Dr Asif Zafar, Professor of Surgery, Head Surgical Unit -2, – Dr Qasim Ali, Senior Registrar (Surgeon)– Dr Faisal Murad, Senior Registrar (Surgeon)

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Outline

• Motivation• Our Project • Challenges• Developing the System• Our Approach• About the Lab

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Motivation• Minimal Invasive Surgery is currently in vogue• Operations once performed “open” are now done almost

exclusively using laparoscopes• The latest trend is to perform robots assisted surgery• All these new skills require special training– Hand Eye Coordination– Navigation of Camera and Laparoscopic instruments in a confined

space

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Background• Conventional Open Surgery Vs Minimal

Invasive Surgery

* Images courtesy of Dr Asif Zafar (Holy Family Hospital, Rawalpindi)

Conventional SurgeryMIS

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Background• Robots Assisted Minimal Invasive Surgery


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State of the Art

LapSIM By Surgical Science, SwedenProMIS by Haptica, Ireland

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Our Project• Objectives

– Developing a cost effective training system for Minimal Invasive Surgery• Major Components

– Virtual Reality Simulator for Minimal Invasive Surgery– Training Robot for Robot assisted Minimal Invasive Surgery

• Value Addition– Simulating Real Surgery Scenes recorded at Holy Family Hospital– Using open source tools making it cost effective– Haptic Intercface with the Simulator– Developing basic and advanced exercises (Fundamentals of

Laparoscopic Surgery (FLS) curriculum)

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The Concept

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Challenges• The first challenge is to model the human anatomy

– Making 3D models that exactly look like the original ones• The second challenge is to simulate this 3D model to act like the real

thing– For example a 3D model of heart can only be called a heart model if it acts

like a human heart too, beating and pumping blood– Simulating Tissue behavior

• The third challenge is to simulate the environment within the human body– What happens if an external object pokes a tissue?– In real-life the tissue or that part of the body would start to bleed internally– How can that be simulated

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System Components• Dataset• Mechanical Object• Tissue Modeling and Characterization• Illumination Mechanism• Collision Detection• Teaching Resources• Assessment through metrics and feedback• Performance Monitoring

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Teaching Resources and Assessment

• Implementing Laparoscopic Training Manual and specific scenarios

• Cues, Feedback and comparisons• Assessment through metrics and qualitative

feedback– Errors– Movement– Time– Forces

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Four Modules• Simulation Engine– Based on Simulation Open Framework Architecture– Modeling and Simulation

• Basic Training Module– Fundamentals of Laparoscopic Surgery Curriculum for Surgeon

Training• Advanced Training Module– Simulation of complex laparoscopic procedures– Videos provided by Holy Family Hospital of different scenarios of

laparoscopic surgery• Evaluation Module– Evaluation of surgeons on the basis of simulator training

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Our Approach• We are utilizing open source framework for

developing our system• Using SOFA (Simulation Open Framework

Architecture) as the core of our system• Creating simulations of real scenarios from Holy

Family’s database of over 100 videos• Formal Verification of the system

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Formal Verification • A Safety Critical Application– A minor glitch in the analysis phase could result in

disastrous consequences

• Potential Analysis Aspects– Evaluating Behavioral Correctness of Telesurgical Robotic

Systems– Formal Reliability Analysis of Telesurgical Robotic Systems– Formal Verification and Performance Analysis of

Telesurgical Network ProtocolsC

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Current Progress• Developed basic exercises of FLS Curriculum• Integrated a conventional joystick for camera

navigation

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Demo Video

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Demo Video 2

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Research Areas at SMART lab• We are also interested in a number of other areas

which include– Android based Disaster Management Systems– Telemedicine Systems using mobile telephony– Intelligent Robotics– Brain Machine Interface– Visualization Techniques

More Information Available at http://smart.seecs.nust.edu.pk

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Thank YouContact Us!

[email protected]@seecs.edu.pk

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mailto:[email protected]

mailto:[email protected]

virtual reality simulators for minimal invasive surgery training

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