Portable Virtual Endoscope System with Force and Visual Display for Insertion Training

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

doi:10.1007/978-3-540-40899-4_94

Cited by 10 publications

(5 citation statements)

References 2 publications

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“…In both cases, the application is to build a simulator for training in vascular catheterization procedures to facilitate improved education of medical students. A deformable model for endoscopes has been described by Ikuta et al [17,18] as part of a virtual colonoscopy simulator with force sensation.…”

Section: A Real-time Deformable Model For Flexible Instruments Insertmentioning

confidence: 99%

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An “optimal”k-needle placement strategy and its application to guiding transbronchial needle aspirations

Kukuk

2004

Computer Aided Surgery

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This article addresses the problem of finding an "optimal" strategy for placing k biopsy needles, given a large number of possible initial needle positions. We consider two variations of the problem: (1) Calculate the smallest set of needles necessary to guarantee a successful biopsy; and (2) Given a number k, calculate k needles such that the probability of a successful biopsy is maximized. Note that "needle" is used as shorthand for the parameter vector that specifies the needle placement. Both problems are formulated in terms of two general, NP-hard optimization problems. Our k-needle placement strategy can be considered as "optimal" in the sense that we are able to formulate it as a known NP-hard problem for which it is believed (NP not equal P conjecture) that no efficient algorithm exists that computes the optimal solution. In other words, our strategy is "optimal" with respect to the best approximative algorithm known for the respective NP-hard problem. For the second variation we have implemented an approximative algorithm that is guaranteed to be within a factor of approximately 0.63 of the exact solution. Given a number k, the algorithm calculates k sets of parameters, each set specifying the placement of a needle and the corresponding probability of success. The resulting probabilities show that our approach can provide valuable decision support for the physician in choosing how many needles to place and how to place them.A typical example of a biopsy where the initial needle position is known approximately is a transbronchial needle aspiration (TBNA). We demonstrate how our "optimal" needle placement strategy can be used to achieve sensor-less guidance of TBNA. The basic idea is to use a patient-specific model of the tracheobronchial tree (from CT/MR) and our model for flexible endoscopes to preoperatively estimate the unknown position of the bronchoscope. The result is a set of candidate shapes for the unknown shape of the bronchoscope before needle placement or, in other words, a (large) number of possible initial needle positions. By parameterizing the handling of the bronchoscope, including the insertion of the biopsy needle, we are able to apply our "optimal" strategy. The result is a TBNA protocol that, if executed during the procedure, prescribes how to handle the bronchoscope to maneuver the needle into the target. With the aforementioned endoscope model, we present a new way of modeling long, flexible instruments. The algorithm requires no initialization or preprocessing and calculates the workspace of an instrument based on its insertion depth and a set of internal and external constraints.

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Section: A Real-time Deformable Model For Flexible Instruments Insertmentioning

confidence: 99%

“…The endoscope model described by Ikuta et al [17,18] is based on multibody systems. The authors solve the forward dynamics problem by using a simplified Newton-Euler equation of motion.…”

Section: A Real-time Deformable Model For Flexible Instruments Insertmentioning

confidence: 99%

An “optimal”k-needle placement strategy and its application to guiding transbronchial needle aspirations

Kukuk

2004

Computer Aided Surgery

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“…This can produce very significant skill improvements [10]- [12]. Compared with these fields, most simulators for construction machinery are behavior analysis simulators for the design and development (almost CAD) or dangerous experience simulators for recognizing of dangerous situations.…”

Section: Introductionmentioning

confidence: 99%

Development of an operation skill-training simulator for double-front work machine

Kamezaki

Iwata

Sugano

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependently control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator.

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“…A dynamic endoscope model based on multibody mechanics has been published by Ikuta [4] as part of a virtual endoscopy simulator with force sensation. Models for catheters have been published by vanWalsum et al [5] who uses a snake-like approach and Anderson et al [6] who uses FEM analysis.…”

Section: Introductionmentioning

confidence: 99%

A Real-Time Deformable Model for Flexible Instruments Inserted into Tubular Structures

Kukuk

Geiger²

2002

Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002

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In this paper we present an approach to the problem of modelling long, flexible instruments, such as endoscopes or catheters. The idea is to recursively enumerate all possible shapes and subsequently filter them according to given mechanical and physical constraints. Although this brute-force approach has an exponential worst-case complexity, we show with a typical example that in case of tubular structures the empirical complexity is polynomial. We present two approximation methods that reduce this bound to a linear complexity. We have performed accuracy, runtime and robustness tests in preparation for first clinical studies.

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Portable Virtual Endoscope System with Force and Visual Display for Insertion Training

Cited by 10 publications

References 2 publications

An “optimal”k-needle placement strategy and its application to guiding transbronchial needle aspirations

An “optimal”k-needle placement strategy and its application to guiding transbronchial needle aspirations

Development of an operation skill-training simulator for double-front work machine

A Real-Time Deformable Model for Flexible Instruments Inserted into Tubular Structures

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