Resection simulation with local tissue deformations for computer assisted surgery of the prostate

Abstract

We present a three-dimensional anatomical and deformable model of the prostate for prostatectomy simulation. The model was build from a set of ultrasound images with the prostate contour, automatically annotated, with a technique based on a genetic algorithm and principal components analysis. The model simulates resection operations and local tissue deformations during virtual resectoscope interaction. A mass-spring method is used to model tissue deformation due to surgical tool interaction. Through 3D mesh modification and updating of the nodes of the mesh, the model is able to show in real time, resections and local tissue deformations produced by the user. The anatomical model is designed to assist the surgeon (in conjunction with an optical tracker) to perform Transurethral Resections of the Prostate (TURP) by showing in real time the position of the resectoscope inside the body of the patient and the deformation of the prostate shape during resection.