H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512--523, April 1998.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....( 500Hz) The forcegrid has been successfully tested on various virtual deformable objects. Keywords: elastic objects, surgical simulation, haptic interaction, virtual environments. 1. Introduction Over the past few years there has been considerable research in modeling deformable objects. See [12, 13] for reviews, respectively on human tissue modeling and on cloth simulation. An important domain of application is surgical simulation, which can be used for training, planning operations, and predicting surgical outcomes. In many cases, especially training, it is highly desirable to perform the ....

H. Delingette. Towards Realistic Soft Tissue Modeling in Medical Simulation. Tech. Rep. No. 3506, INRIA, SophiaAntipolis, France, Sept. 1998.

....forces deform an object depending on its geometric and material properties. The simulation of realistic virtual deformations necessitates the inclusion of forces, object geometry and realistic material properties. Realistic deformation of virtual objects is required in medical training simulators [31], in haptic interfaces to virtual worlds [113] and in design of robotic tasks involving soft materials [59, 60] Medical simulators allow students to practice [123] and help to predict and plan some surgical procedures [67] Medical robotics can also profit from user interfaces with haptic ....

....mechanical testing laboratories. As a result, many computer graphics methods do not model material properties for deformation simulation of physical objects. Fur2 thermore, simulation results with a specific computational model are commonly not validated with respect to physical object behavior [40, 31]. The key for future increase in realism is observations. These observations of physical phenomena need to be su#cient to develop a computational model for objects to be simulated. The combination of a measurement approach, a computational model and a robotic measurement system is required. This ....

H. Delingette. Toward realistic soft-tissue modeling in medical simulation. Proceedings of the IEEE, 86(3):512--523, 1998.

....soft tissue modeling [101] VIII. PERSPECTIVES Medical Image Analysis, Simulation and Robotics is now established as a scientific discipline with a promising future supported by the sustained development of new technologies and by their increasing dissemination within the medical community [102] [103] [104] 105] We organized the first international conference on Computer Vision, Virtual Reality and Robotics in Medicine in Nice in 1995 (CVRMed 95) 106] a conference which then fused with MRCAS (Medical Robotics and Computer Assisted Surgery) and VBC (Visualization and Biomedical Computing) ....

H. Delingette, "Towards realistic soft tissue modeling in medical simulation," Proceedings of the IEEE : Special Issue on Surgery Simulation, pp. 512--523, Apr. 1998.

....3. Elasto mechanical Properties The modeling of realistic elasto mechanical properties of soft tissue requires a nonlinear force deformation relationship between mass points. However, very little information is available regarding the force deformation relationship of living soft tissue [12] [13], 14] The theory of the behavior of deformable material, such as nonviscous and viscous fluids, elastic and viscoelastic solids, is described by Fung [11] Additionally, many experiments regarding the behavior of tissue are reviewed in this book. In order to approximate the force deformation ....

H. Delingette. "Toward Realistic Soft-Tissue Modeling in Medical Simulation". Proceedings of the IEEE: Special Issue on Virtual & Augmented Reality in Medicine, 86(3):524--530, March 1998.

....and the skin surface taken from the CT scan [6] 3 Soft Tissue Model Given the triangle meshes that represent the skull and the face, the soft tissue model is generated. In recent years, several soft tissue models based on springs or finite elements have been developed [3] 5] 6] 11] [12], 13] As computational costs for finite element methods are high and these methods seem to be less suitable for interactive applications, in our work, a mesh of springs is utilized. The springs are categorized according to their location and function (Fig. 1) Layer springs represent ....

H. Delingette. "Toward Realistic Soft-Tissue Modeling in Medical Simulation ". Proceedings of the IEEE: Special Issue on Virtual & Augmented Reality in Medicine, 86(3):524--530, March 1998.

....of surgical instruments can be visualized. 1 Introduction The idea of estimating soft tissue deformation due to bone realignment was formulated by Vannier in 1983 [26] In 1992 further approaches to surgery simulation were introduced by Kikinis [16, 1] followed by Delingette in 1994 [8, 9, 7], Bohner in 1996 [3] Koch in 1996 [17] and Bro Nielsen in 1998 [4] These approaches use deformable volumes, mass spring models, or finite elements to predict soft tissue changes. In this paper, a method for direct computation of soft tissue deformation based on a mass spring model is ....

H. Delingette. "Toward Realistic Soft--Tissue Modeling in Medical Simulation", Proc. of the IEEE: Special Issue on Virtual & Augmented Reality in Medicine, 86(3):524--530, March 1998.

....objects the simulation system considers the nodes as point masses and edges as spring dampers to form a 3D mesh for mass spring simulation. These edges can be considered as linear, piece wise linear, or non linear 1D springs dampers. While we currently do not provide support for torsional springs[22], their introduction would be straightforward. Each edge can have different spring and damping coefficients and the nodes can provide different mass distributions to provide for some support of anisotropic, heterogeneous tissues. For deformable objects, a number of numerical methods have been ....

H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512--523, Apr. 1998.

....procedures including animal dissection, microsurgery, hysteroscopy, and cleft lip repair. 1. Introduction When trying to create a simulation environment, whether for surgical training, clothing design or manufacturing, it inevitably becomes necessary to model object to object interactions [1 3]. We have developed generalized methods for allowing a user to interact with patient specific models using detailed virtual tools in a real time virtual environment. These methods strive to provide a general method for interactions that can then be realized by many different virtual instruments. ....

H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proceedings of the IEEE: Special Issue on Surgery Simulation, pages 512--523, Apr. 1998.

....more necessary in planning and predicting a specific patient s surgery, for example) and thus we have focused our research on mass spring models, with an eye towards computation reduction for displaying complex virtual environments. The need for suture simulation has been previously addressed in [12], and a performance study in [13] discusses the validity of using such a simulator to develop surgical skill, although it does not provide technical details of the actual simulation. More recently, 8] discusses many di#erent aspects of suture simulation. Interaction with virtual tools is another ....

H. Delingette. Towards Realistic Soft Tissue Modeling in Medical Simulation. Proc. of the IEEE : Special Issue on Surgery Simulation, pp. 512-523, April 1998.

....training systems. Deformable objects raise a complex combination of issues ranging from estimating mechanical parameters, to solving large systems of differential equations, to detecting collisions, to modeling responses to collisions. See [10] for problems and techniques in cloth modeling and [8] for issues arising in surgical simulation. Many issues still lack adequate solutions, especially when simulation must be real time. Here, we focus on two main problems: 1) computing the deformation of a viscoelastic object subject to external forces, and (2) detecting collisions among deforming ....

....force. Microsurgeons acquire their initial skills through months of practice in an animal lab. Goals of our system include a decrease in training time, objective evaluation of the training, and an alternative to using lab animals. The need for suture simulation has been previously addressed in [8, 19]. Sections 2 and 3 present our simulation and collisiondetection algorithms. Section 4 describes the microsurgical system. Section 5 discusses current and future work. 2. Computation of Object Deformations Research on modeling deformable objects has increased dramatically in the past few years. ....

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512--523, Apr. 1998.

....information transmitted to the surgical trainee is accurate to avoid the introduction of any incorrectness in the training process. 2 puter animation techniques. In the area of surgery simulation, a large variety of these models have been implemented as described in a survey on this topic (Delingette, 1998). For instance, great interest has been given to spring mass models due to their simplicity of implementation and their relatively low computational complexity (Baumann and Glauser, 1996; Meseure and Chaillou, 1997; Kuehnapfel and Neisius, 1993) Kuehnapfel and Neisius (Kuehnapfel and Neisius, ....

Delingette, H. (1998). Towards realistic soft tissue modeling in medical simulation. Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512523.

....reasons, the use of living animals is limited, surgery simulation remains as the only appropriate training tool. A Surgery Simulator was developed at INRIA in collaboration with the IRCAD institute. In order to allow for real time simulations, the liver is modeled by a simplified linear model [3], 1] The liver is treated as a linearly elastic incompressible isotropic body. The actions of the bistoury or of the pliers on the liver are modeled by imposing the displacement of the nodes which are in contact with the tools. The problem to solve is then a standard linear elasticity problem. ....

H. Delingette. Toward realistic soft-tissue modeling in medical simulation. Proceedings of the IEEE, 86(3):512--523, march 1998. Special issue on virtual and augmented reality in medicine.

....a 6 dof manipulator robot. Several researchers are currently working on the creation of realistic models of human soft tissues in order to compute their deformations under external forces, such as those applied by surgical tools when they probe, grasp, pinch, cut, pierce, and suture the tissues [16]. This research will enable motion planning techniques to compute minimally invasive paths for surgical tools (e.g. endoscopes, scalpels) Computational Biology Computational biology raises many problems where it is necessary to reason about molecule motions. For example, a drug molecule, called ....

Delingette, H. 1998. Towards Realistic Soft Tissue Modeling in Medical Simulation. Rapport de Recherche No. 3506, INRIA, Sophia-Antipolis, France.

....simulators, it will also make these simulators more broadly applicable. Therefore, it is not surprising that this area has recently attracted much attention, e.g. 2, 6, 8, 10, 11, 12, 19, 20, 21, 31, 34, 49, 51, 52, 53, 59, 60, 61, 62, 64, 69, 72, 78, 82, 93] Excellent reviews can be found in [26, 32, 33]. The core problem is the following: Given a tissue at a resting position, compute its displacement and deformation when external forces are applied by surgical instruments. When a force feedback device is used to interact with the tissue model, one must instead compute the reaction force exerted ....

....computational time When applied to complex tissues, both FEM and elastic mesh methods yield computationally demanding systems of equations. Techniques have been proposed to reduce computational time. One approach is to simplify equations. This can be done by only allowing static simulation (e.g. [19, 26]) Since it does not require time integration, static simulation is potentially faster than dynamic simulation. Another way of simplifying equations is to assume linear elasticity. In [11, 20] this assumption results in speedups of 100, or more. Another way of simplifying equations is to combine ....

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H. Delingette. Towards Realistic Soft Tissue Modeling in Medical Simulation. Rapport de Recherche No. 3506, INRIA, Sophia-Antipolis, September 1998, 22 pages.

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512 523, April 1998.

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proceedings of the IEEE : Special Issue on Surgery Simulation, pages 512--523, April 1998.

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Delingette, H.: Towards realistic soft tissue modeling in medical simulation. Technical Report RR-3506, INRIA, Sophia Antipolis, France (2000)

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. In Proc. of IEEE: Special Issue on Surgery Simulation, pages 512#523, April 1998.

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. Proceedings of the IEEE, March 1998. in press.

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Delingette, H.: Towards realistic soft tissue modeling in medical simulation. IEEE: special issue on virtual and augmented reality in medicine 86 (1998) 512--523

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. Proceedings of the IEEE, pages 512-523, April 1998.

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Delingette,H.: "Toward realistic soft-tissue modeling in medical simulation". Proceedings of the IEEE, 86(3):512-523, 1998.

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H. Delingette, "Toward Realistic Soft Tissue Modeling in Medical Simulation", Proceedings of the IEEE, Vol.86, No.3, pp.512-523, Apr.1998

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H. Delingette, "Towards realistic soft tissue modeling in medical simulation", proc. of the IEEE: Special Issue on Surgical SImulation, April 1998, pp. 512-523

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H. Delingette. Towards realistic soft tissue modeling in medical simulation. Proceedings of the IEEE: Special Issue on Surgery Simulation, pages 512-523, April 1998.

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H. Delingette. Toward realistic soft-tissue modeling in medical simulation. Proceedings of the IEEE: Special Issue on Virtual & Augmented Reality in Medicine, 86(3):524--530, March 1998.

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H. Delingette. Toward realistic soft-tissue modeling in medical simulation. Proceedings of the IEEE: Special Issue on Virtual & Augmented Reality in Medicine, 86(3):524--530, March 1998.

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