THE THREE-DIMENSIONAL AUGMENTED MODEL RESPONSE DURING INSTRUMENT INTERACTIONS SIMULATION

Abstract

In recent years, there has been considerable interest in simulations in surgical robotics, and in particular simulations in training surgeons. This is largely due to cost-effectiveness, the critical growing needs in surgical care and reduced training time for surgeons, improved outcomes during surgery. Simulation is a commonly required task in the design of surgical instruments also. With the help of simulation, it simulated a wide range of static and dynamic loads with linear and non-linear material properties, and optimized tool-tissue force interactions. Simulation in the surgical area is extremely challenging due to surface and anatomical soft tissues deformations and the nature of the interventions. The aim of the work is to create a suitable three-dimensional augment model to provide necessary information about the liver responses during tool-tissues interactions in the operating environment. To achieve this purpose, the following is done i) an investigation of the instrument motion is initially made to control the action under remote control ii) results from a simulating approach of liver model response during tactile instrument interactions are shown. The ultimate goal of the work is to use the accumulated results into simulators in the training of surgeons and young doctors. This work is a continuation of previous research in the field of surgical robotics, where a surgical instrument is designed, and its kinematics is considered here.