Robotic Surgery / Robot-Assisted Surgery
Marzie Saeidirad; Heidar Ali Talebi; Mohammad Zareinejad; Mohammad Reza Dehghan
Volume 7, Issue 4 , June 2013, , Pages 287-296
Abstract
Computationally fast biomechanical models are required to present the actual behavior of soft tissue in real-time simulation. These models are applied in medical diagnosis, surgical planning and training. One of the challenges in the surgical simulation is soft tissue cutting that requires topology changes ...
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Computationally fast biomechanical models are required to present the actual behavior of soft tissue in real-time simulation. These models are applied in medical diagnosis, surgical planning and training. One of the challenges in the surgical simulation is soft tissue cutting that requires topology changes and elements remeshing in real-time.This paper present a new algorithm for soft tissue cutting using its geometric analysis. This method creates a less number of degrees of freedom and shows a stable simulation that leads in less tissue damage as compared to other methods. According to the simulation results, the proposed algorithm has a relatively high speed. In addition, a mapping method has been proposed that relates physical and visual model and consequently shows a more realistic surgery. In order to achieve a physics based, accurate and reliable force model, Finite Element Method is used. Finally, the proposed algorithm is simulated for three-dimensional soft tissue tumor and evaluated using the SOFA-Framework.
Yaser Rezaei Moghaddam; Seyed Mehdi Rezaei; Mahnaz Shamshirsaz; Mohammad Zareinejad; Mohammad Reza Dehghan
Volume 6, Issue 4 , June 2012, , Pages 299-305
Abstract
In vitro fertilization (IVF) is a solution to overcome the problem of infertility of couples .Lately with the development of technology and using robotic systems, telesurgery systems are used in order to increase the accuracy, better control of needle movement and preventing injury to the ovum cell while ...
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In vitro fertilization (IVF) is a solution to overcome the problem of infertility of couples .Lately with the development of technology and using robotic systems, telesurgery systems are used in order to increase the accuracy, better control of needle movement and preventing injury to the ovum cell while injection in IVF. To provide better control of injection, haptic systems are used. In this study, a haptic system is designed with virtual reality environment in order to perform In vitro fertilization. For modeling of injection force, point-load model is utilized. A mass-spring model is used to simulate cell deformation during insertion. Simulation results have a good conformity with related researches.
