Phenomenological tissue fracture modeling for an Endoscopic Sinus and Skull Base Surgery training system based on experimental data

A validation study of a virtual‐based haptic system for endoscopic sinus surgery training

“…The mechanical model of the tissue, in the virtual environment, computes the force‐displacement relation of the tissues associated with COF deformation and fracture. In 2019, Sadeghnejad et al proposed a phenomenological tissue fracture model for ESSS training system based on experimental data under the supervision of an ethical committee from Tehran University of Medical Science who approved the experimental setup and protocol for use on the animals . They studied the mechanical properties of the specific sino‐nasal regions of sheep head and the effect of indentation rate on the force‐displacement characteristics, during the tool insertion, under various indentation and relaxation experiments.…”

“…For the deformation phase, they proposed a nonlinear rate‐dependent modified Kelvin‐Voigt (KV) model, and then, a model was proposed to predict the behavior of the tissue at the fracture point, and finally, the tissue cutting phase was modeled as a nonlinear phenomenon to characterize the necessary force for slicing through the COF. Performing the indentation and relaxation tests, they derived a nonlinear rate‐dependent model to predict the tissue behavior prior and posterior to the fracture (more details are available in Sadeghnejad et al). The proposed model is dependent on the tool's velocity and displacement while interacting with the tissue.…”

“… F f ( v ) shows the dependency of fracture force to the tool indentation rate and is equal to 0.001 v 2 − 1.176 v +697.1. a ( v ) is the slope of the experimental data, beyond the fracture point, as a function of tool's insertion rates, and is counted as 10 −7 v 4 + − 7 × 10 −5 v 3 +0.0101 v 2 +0.0485 v + − 79.313, and x post is the tool displacement beyond fracture …”

“…Consulting about broad categories of the identified skills in the ESS, we highlighted the force feedback hands‐on techniques that enable the trainees to identify the sense of force haptic feedback and major structures in the presence of the vital structures like an orbit and carotid artery through the intricate anatomy of the paranasal sinuses. In previous researches, our group proposed a phenomenological model for the mechanical characterizations of the coronal orbital floor (COF) for the heads of the sheep . In the other studies, we designed and evaluated a new model predictive control approach for improving the stability and the transparency of the haptic interface in the virtual‐based environment .…”

“…In previous researches, our group proposed a phenomenological model for the mechanical characterizations of the coronal orbital floor (COF) for the heads of the sheep . In the other studies, we designed and evaluated a new model predictive control approach for improving the stability and the transparency of the haptic interface in the virtual‐based environment . However, our previous work required defining appropriate training exercises that could serve to teach the relevant skill set and evaluate the performance of the trainees.…”