Mobile virtual endoscope system with haptic and visual information for non-invasive inspection training

Ikuta, Koji; Iritani, K.; Fukuyama, J.

doi:10.1109/robot.2001.932907

Cited by 15 publications

(7 citation statements)

References 2 publications

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“…This distributed approach allows us to generalise the Ikuta et al (2001) model. He proposes to consider the movement of circle series representing the intestine wall.…”

Section: Modelling Through Splinementioning

confidence: 99%

Coloscopy simulation: towards endoscopes improvement

Kühl

Dumont

2005

Computer Methods in Biomechanics and Biomedical Engineering

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Minimally invasive surgery progresses have allowed to greatly decrease patient suffering. A way to improve these techniques is to use active tools, which could adapt to the inspected environment. The development of these tools is very complex. So simulation methods can be significantly helpful in order to produce the most suitable tools while limiting the quantity of physical prototypes. We work on the design of a simulator for virtual coloscopy. Besides the virtual prototyping aspect for new active endoscopic devices, we can also use it as a training simulator once the device is designed. To do so, we have to address the simulation process of the colon. This article is mainly devoted to the description of the chosen models for the colon behaviour, which are used for the simulator. Some experimental results are presented which confirm the validity of the different choices. To finish, sigmoid untwisting operation is presented as a benchmark test to prove the efficiency of the simulator.

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“…This distributed approach allows us to generalise the Ikuta et al (2001) model. He proposes to consider the movement of circle series representing the intestine wall.…”

Section: Modelling Through Splinementioning

confidence: 99%

Coloscopy simulation: towards endoscopes improvement

Kühl

Dumont

2005

Computer Methods in Biomechanics and Biomedical Engineering

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“…A torque around the x-axis, T x , is mainly produced when the endoscope is in the constrained part and whenever the endoscope is off the parabolic center-line. To compute the torques due to urethra deformation during endoscope x rotation and y-z translation, T x , one could use virtual springs connecting each basic section center to a virtual wall point off the urethra, see [8]. This method works well under the assumption of small basic section center displacements on its plane.…”

Section: Fig 10 Correlation Of Texture Coordinatesmentioning

confidence: 99%

“…Later, virtual suturing of blood vessels was modeled using a mass-spring model, [7]. A mass-spring-damper model was also used to model the large intestine during endoscopic inspection, [8]. Lately, such a method was used to model the gall bladder, [9].…”

Section: Introductionmentioning

confidence: 99%

A real-time graphic environment for a urological operation training simulator

Papadopoulos

Tsamis

Vlachos

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract_An OpenGL/C++ real-time graphic environment, part of a training simulator for urological operations, is presented. The graphic environment simulates endoscope insertion in a small diameter deformable tube and is used with a low-force 5-dof force-feedback haptic mechanism. Piecewise Bezier interpolations are used for smooth urethra deformations. A novel particle-based model computes the forces and torques fed to the haptics. Realistic textures from medical databases are employed and a 25 fps refresh rate is achieved using the Rendering Thread method. The overall simulator software is made of three processes running on two distinct platforms, communicating via Ethernet and TCP/IP.

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“…Various models [7,8] are proposed to describe the behaviour of human organs or tissues, including non-linear behaviour, relaxation... For our purpose, the objective is to develop a robust and rapid method to determine the interaction force. The reaction calculation is insured by a compliance method, because the interaction is made between a stiff body (the segments of the endoscope on one hand) and a soft body (human tissues on the other hand).…”

Section: Interaction Modulementioning

confidence: 99%

Virtual endoscopy: from simulation to optimization of an active endoscope

Kühl¹,

Dumont²

2002

ESAIM: Proc.

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The design and realization of micro robotic devices in the medical field enable the operating gesture to be assisted. So a polyarticulated device actuated with shape memory alloy (SMA) springs for endoscopy is developed in collaboration with the Laboratoire de Robotique de Paris. In this paper, a simulator realization, based on an original simulation platform (OpenMASK), of this structure is described. A numerical representation of the inspected network obtained by magnetic resonance imaging is used. A contact detection algorithm, which will be described, allows to determine the interaction forces between the endoscope and the duct thanks to a distance cartography of the space, in order to minimize the calculation time. An important experimental work shall be lead to determine the parameters of the contact model. Simulation results of virtual navigation through this duct representation by using an endoscope mechanical model including a behaviour description of the SMA actuators will be presented. Moreover, the efficiency of a command with the multi-agent approach is proved. Then the simulator interest is studied for the prototype amelioration by applying the techniques of virtual prototyping. Some results of optimization by using genetic algorithms with respect to the virtual navigation task will be shown.

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Mobile virtual endoscope system with haptic and visual information for non-invasive inspection training

Cited by 15 publications

References 2 publications

Coloscopy simulation: towards endoscopes improvement

Coloscopy simulation: towards endoscopes improvement

A real-time graphic environment for a urological operation training simulator

Virtual endoscopy: from simulation to optimization of an active endoscope

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