Computer aided and image guided Medical interventions

Surgical Tools for the Hysteroscopy Simulator

Surgical Tools for the Hysteroscopy Simulator

Semester Project

by Michel Estermann

Tutor: Stefan Tuchschmid

Computer aided and image guided Medical interventions

OutlineOutline

1. Hysteroscopy

2. Hysteroscopy Simulator

3. Tool Modelling

4. Tissue Interaction

5. Result and Outlook

Computer aided and image guided Medical interventions

HysteroscopyHysteroscopy

● endoscopic visualization of uterine cavity

● second most often performed procedure in gynecology

● diagnostic and surgery

Computer aided and image guided Medical interventions

ElectrosurgeryElectrosurgery

● 95 % of all hysteroscopic surgery

● resectosope cutting loop rollerball needle

● resection and coagulation

● high frequency current

Computer aided and image guided Medical interventions

Computer aided and image guided Medical interventions

Hysteroscopy SimulatorHysteroscopy Simulator

• surgical training simulator

• training of manipulativeand procedural skills

• soft tissue deformation

• collision detection and response

• cutting

• haptic device

Computer aided and image guided Medical interventions

ObjectsObjects

Computer aided and image guided Medical interventions

Tool ModelingTool Modeling

• Blender version 2.40

• export wavefront object files (.obj)

• modification of object files

Computer aided and image guided Medical interventions

Tissue interaction: ChemicalTissue interaction: Chemical

Coagulation

• dehydration of cells

• denaturation of proteins ---> white discoloration

• too high energy ---> carbonisation

Computer aided and image guided Medical interventions

Visualization of Tissue InteractionVisualization of Tissue Interaction

Computer aided and image guided Medical interventions

Visualization of Tissue InteractionVisualization of Tissue Interaction

Computer aided and image guided Medical interventions

Visualization of Tissue InteractionVisualization of Tissue Interaction

Computer aided and image guided Medical interventions

Visualization of Tissue InteractionVisualization of Tissue Interaction

Computer aided and image guided Medical interventions

ImplementationImplementation

blend

base

r ~ f(t)opacity ~ f(x-x0, y-y0)

newCol = base * (1-opacity) + blend * opacityx0,y0

x0,y0

r

Computer aided and image guided Medical interventions

ImplementationImplementation

glTexSubImage2D

blend

base

Computer aided and image guided Medical interventions

Result: ToolsResult: Tools

Computer aided and image guided Medical interventions

Result: ToolsResult: Tools

Computer aided and image guided Medical interventions

Computer aided and image guided Medical interventions

OutlookOutlook

• improve visual effect by choosing better overlay texture

• solve problem of texture joint

• find more accurate algorithm to determine coagulation point

• extend to allow coagulation at pathology

• move tissue mesh to increase realism