Simulating embryo-transfer through a haptic device

Abstract

Computer based training represents an effective way to learn and virtually practice the procedures related to a specific surgical intervention exploiting a virtual reproduction of the anatomy involved and of the tools required. Though a "visual-only" level of simulation can already be very useful, there is no doubt that, as long as the technology would allow it, a visual-haptic simulator providing kinesthetic feedback to augment the virtual experience would represent a key factor in fostering the development of manual skills in trainees. This kind of approach to virtual training is exploited in this work to simulate Embryo Transfer, a crucial step of the In Vitro Fertilization procedure which is become very popular to address several infertility conditions. We present a novel training system based on a haptic device allowing the user to handle a virtual replica of the catheter required to insert the simulated embryo through the cervix until the optimal site in the womb is reached. The system proposed exploits deformability-mapping to represent local stiffness in the contact surfaces and simulates an ultrasound live image to approach the visual appearance of the actual diagnostic imagery. © Springer-Verlag 2011.