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The Robin Heart robot choreography and advisory system
$572
Journal of Biomechanics 2006, Vol. 39 (Suppl 1)
Distributed Gaussian noise (SD 0.1 cm) was applied to each segment of a virtual hinge joint. Additionally, a moving joint axis was simulated by allowing the complete joint configuration to randomly translate in space. The Algebraic Axis Fit [1], the Mean Helical Axis [2] and the Schwartz approach [3] were employed to determine the AoR. These were then directly compared against the Symmetrical AoR Approach (SARA), a new approach developed in this study, which is based upon the assumption that the axis parameters must remain constant in local coordinates on both segments, and is therefore is capable of simultaneously considering two dynamic body segments. In general, the RMS error of the calculated AoR decreased for each approach with increasing range of movement. The SARA and Schwartz approaches together produced the smallest errors for all ranges of motion, but when additional simulated noise conditions were applied to each marker, the SARA alone determined the best AoR for two dynamic bodies. Whilst initial results using the SARA are promising using numerically generated datasets and are fast enough to be determined 'on-line', the technique must now be further developed and proven in a clinical environment.
References [1] Gamage and Lasenby. J Biomech 2002. [2] Woltring. Berlec Corporation 1990. [3] Schwartz and Rozumalski. J Biomech 2005. 7634 We-Th, no. 12 (P62) Development of a biomechanics validated Finite Element model of the pelvis J. B6hm 1, S. Klima 1, J. Dorow 2, R. HLilse 1, V. Slowik 2, C. Josten 1. 1Department of Trauma, Reconstructive and Plastic Surgery, University of Leipzig, Germany, 2Institute of Experimental Mechanics, Civil Engineering Department, Leipzig University of Applied Sciences, Leipzig, Germany
Purpose: Only with the correct diagnosis for ligamental instability operative treatment of pelvic ring fractures can be performed. Because of diagnostic deficites in detecting ligamentary insufficiency anamnesis and fracture constellation mainly decide the type of osteosynthesis. Finite Element models can be used to simulate stress zones under life conditions in uninjured as well as analyse forces leading to fractures after pelvic trauma mechanism. The aim of the study was to create a realistic complex bone-ligament compound of the pelvis for further evaluation of stress zones and fractures under real conditions and to compare this model with a human cadaver pelvis. Method: Based on CT images, realistic 3D geometrical models of living pelvic bones and ligaments were generated in consideration of the mechanical analysis of cadaver pelvis. Subsequently, these geometrical models are used for the simulation of different load cases the structure might be subjected to under real life conditions. For the mechanical analyses, the Finite Element method is utilized allowing the accurate determination of local strains and stresses in the continuum. Under different load cases deformations are measured in order to obtain information about the stiffness of the material. Linear elastic material behaviour is assumed in the numerical analyses. Results: By determining the main strain distributions in the pelvic bone local stress zones could be identified. Under life conditions extreme tensile stress was verified at the $1 level and the sciatric notch, extreme compressive stress at the S 1 level and the iliosacral joint. By increasing the inner cantilever arm sacrotuberal and sacrospinal ligaments reduce the tensile stress at the sciatric notch. Conclusion: Finite Element modells can characterize main strain distributions in human pelvis. On the basis of CT images realistic individual models could be developed to optimize the osteosynthesis. 4262 We-Th, no. 13 (P62) Modeling of the lower esophagus sphincter for virtual reality surgical simulation of laparoscopic esophageal procedure J. Kim, B. Ahn, C. Choi, H. Han. Dept. ef Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea Over the last few years, laparoscopic heller myotomy has emerged as the surgical treatment for an esophageal motility disorder. This procedure involves palpations of the long tubular organ and skin incisions of the outer muscle layer at the lower esophageal sphincter (LES). The success of the procedure depends on his (her) level of training so it was reported that multiple trials of the procedure significantly reduced the reoperation and complication rates. However, the occurring rate the procedure is relatively rare so the chance for practicing of the procedure is limited. To provide more opportunities without sacrificing safety of patients, a virtual reality based surgical simulator for the procedure is being developed. It involves multi-disciplinary research areas including soft tissue mechanical behavior, tool-tissue contact mechanics, computer haptics, computer graphics and robotics integrated into VR-based training systems.
Poster Presentations However, the lack of biomechanical data of the esophagus has been a great impediment to develop the simulator with high fidelity. This paper presents an integrated framework for measuring, modeling, and calibrating the material properties of the lower esophagus to develop soft tissue model. Data were collected from anesthetized pigs using a robotic indenter and a force transducer. The constitutive model was fit to the experimental data using the optimization algorithm combined with a finite element simulation. Soft tissues were modeled as continuous, viscoelastic, non-linear, incompressible and isotropic. These bio-mechanical models are suitable for computing accurate reaction forces on surgical instruments, and computing deformations of the esophagus during the surgical procedure. Finally, the tissue parameters were combined with geometric organ models segmented from the Visible Human Dataset and integrated into a minimally invasive surgical simulation system consisting of haptic interface devices inside a mannequin and a graphic display.
References C. Basdogan, C. Ho, M.A. Srinivasan. Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration. IEEE/ASME Transactions on Mechatronics 2001; 6: 269-285. 6344 We-Th, no. 14 (P62) The Robin Heart robot choreography and advisory system Z. Nawrat 1,3, P. Kostka 1,2, Z. Mafota 1, M. Ko±lak2. 1Foundation of Cardiac Surgery Development, Zabrze, Poland, 2Silesian University of Technology, Gliwice, Poland, 3Silesian Medical Academy, Zabrze, Poland The introduction of robots to cardiac surgery gave us new possibility of direct and practical use of surgery procedures simulation. Current state of Polish Robin Heart cardiac surgery robot family (first European cardio-robot) is represented by original Master-Slave tele-manipulators equipped with user interface tool, control system and arm with surgery tool. Robin Heart EXPERT advisory system was developed as the integral part of whole system. Information gathered in prepared database may be use by surgeon as on-line expert system to support him in decision making. A first step is to prepare the robotassisted surgery relates to both computer and physical models of particular operation type. Based upon pre-operation cardiac surgery simulations the optimisation of cardiac surgery procedures can be established. As a results of a physical and computer simulations surgery modification of biological system effectiveness with the different surgery techniques usage is studied. As a result of research connected with operation planning the optimisation of port location and choreography of robot arm for this cases is performed. Virtual reality (3D) software have been used for results presentation of the Robin Heart usage on operating room. Conclusion: We propose an original solution of remotecontrol manipulator for cardiac surgery with computer based advisory system. The new models of robot tolls and the effectiveness of task realisation and optimisation of choreography have been established. In the nearest future based on this strategy the Robin Heart robot can be used for new kind of clinical application. 6209 We-Th, no. 15 (P62) New perspectives of computer assisted surgical reconstruction after severe facial injuries L. Kovacs 1, A. Zimmermann 2, H. Wawrzyn 3, H. Seitz 4, C. Tille 4, M. Endlich 1, A. M~ller 1, N. Papadopulos 1, E. Biemer 1. 1Departement ef Plastic and Reconstructive Surgery, Klinikum rechts der Isar, Technical University Munich; 2Departement of Surgery, Klinikum rechts der Isar, Technical University Munich; 3Center of Advanced Studies in Maxille-Facial Surgery, Klinikum rechts der Isar, Technical University Munich; 4Center of Advanced European Studies and Research, Bonn, Germany In severe facial injuries with extensive destruction of anatomical structures, cosmetic and functional outcome of treatment are frequently not satisfactory. Although operative therapy is being continuously refined, the variety and proximity of structures in the facial region is considered a major challenge in reconstructive surgery. We present the case of two patients, one with a severe facial burn injury and an extended dog bite injury. Up to now 2D photos are the most commonly used method for documentation and operation planning in severe facial traumas containing numerous errors (perspective distortions, lack of metric and 3D information). To plan the reconstructive procedure of severe facial injuries, we used a multimodal approach. Based on computed tomography data, a three-dimensional reconstruction of the bony structures was performed and the results were converted into a stereolithographic model. Three-dimensional assessment of the soft tissue surfaces in the severely injured faces was carried out by means of a linear laser scanner, Type Minolta Vivid 910 ® (Minolta Co., Ltd, Osaka, Japan. Amount and pattern of structural loss could thus be determined more precisely and studied more vividly than by inspection of two-dimensional imaging alone. Injured structures to be reconstructed could be projected onto the skin area of
Journal of Biomechanics 2006, Vol. 39 (Suppl 1)
Distributed Gaussian noise (SD 0.1 cm) was applied to each segment of a virtual hinge joint. Additionally, a moving joint axis was simulated by allowing the complete joint configuration to randomly translate in space. The Algebraic Axis Fit [1], the Mean Helical Axis [2] and the Schwartz approach [3] were employed to determine the AoR. These were then directly compared against the Symmetrical AoR Approach (SARA), a new approach developed in this study, which is based upon the assumption that the axis parameters must remain constant in local coordinates on both segments, and is therefore is capable of simultaneously considering two dynamic body segments. In general, the RMS error of the calculated AoR decreased for each approach with increasing range of movement. The SARA and Schwartz approaches together produced the smallest errors for all ranges of motion, but when additional simulated noise conditions were applied to each marker, the SARA alone determined the best AoR for two dynamic bodies. Whilst initial results using the SARA are promising using numerically generated datasets and are fast enough to be determined 'on-line', the technique must now be further developed and proven in a clinical environment.
References [1] Gamage and Lasenby. J Biomech 2002. [2] Woltring. Berlec Corporation 1990. [3] Schwartz and Rozumalski. J Biomech 2005. 7634 We-Th, no. 12 (P62) Development of a biomechanics validated Finite Element model of the pelvis J. B6hm 1, S. Klima 1, J. Dorow 2, R. HLilse 1, V. Slowik 2, C. Josten 1. 1Department of Trauma, Reconstructive and Plastic Surgery, University of Leipzig, Germany, 2Institute of Experimental Mechanics, Civil Engineering Department, Leipzig University of Applied Sciences, Leipzig, Germany
Purpose: Only with the correct diagnosis for ligamental instability operative treatment of pelvic ring fractures can be performed. Because of diagnostic deficites in detecting ligamentary insufficiency anamnesis and fracture constellation mainly decide the type of osteosynthesis. Finite Element models can be used to simulate stress zones under life conditions in uninjured as well as analyse forces leading to fractures after pelvic trauma mechanism. The aim of the study was to create a realistic complex bone-ligament compound of the pelvis for further evaluation of stress zones and fractures under real conditions and to compare this model with a human cadaver pelvis. Method: Based on CT images, realistic 3D geometrical models of living pelvic bones and ligaments were generated in consideration of the mechanical analysis of cadaver pelvis. Subsequently, these geometrical models are used for the simulation of different load cases the structure might be subjected to under real life conditions. For the mechanical analyses, the Finite Element method is utilized allowing the accurate determination of local strains and stresses in the continuum. Under different load cases deformations are measured in order to obtain information about the stiffness of the material. Linear elastic material behaviour is assumed in the numerical analyses. Results: By determining the main strain distributions in the pelvic bone local stress zones could be identified. Under life conditions extreme tensile stress was verified at the $1 level and the sciatric notch, extreme compressive stress at the S 1 level and the iliosacral joint. By increasing the inner cantilever arm sacrotuberal and sacrospinal ligaments reduce the tensile stress at the sciatric notch. Conclusion: Finite Element modells can characterize main strain distributions in human pelvis. On the basis of CT images realistic individual models could be developed to optimize the osteosynthesis. 4262 We-Th, no. 13 (P62) Modeling of the lower esophagus sphincter for virtual reality surgical simulation of laparoscopic esophageal procedure J. Kim, B. Ahn, C. Choi, H. Han. Dept. ef Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea Over the last few years, laparoscopic heller myotomy has emerged as the surgical treatment for an esophageal motility disorder. This procedure involves palpations of the long tubular organ and skin incisions of the outer muscle layer at the lower esophageal sphincter (LES). The success of the procedure depends on his (her) level of training so it was reported that multiple trials of the procedure significantly reduced the reoperation and complication rates. However, the occurring rate the procedure is relatively rare so the chance for practicing of the procedure is limited. To provide more opportunities without sacrificing safety of patients, a virtual reality based surgical simulator for the procedure is being developed. It involves multi-disciplinary research areas including soft tissue mechanical behavior, tool-tissue contact mechanics, computer haptics, computer graphics and robotics integrated into VR-based training systems.
Poster Presentations However, the lack of biomechanical data of the esophagus has been a great impediment to develop the simulator with high fidelity. This paper presents an integrated framework for measuring, modeling, and calibrating the material properties of the lower esophagus to develop soft tissue model. Data were collected from anesthetized pigs using a robotic indenter and a force transducer. The constitutive model was fit to the experimental data using the optimization algorithm combined with a finite element simulation. Soft tissues were modeled as continuous, viscoelastic, non-linear, incompressible and isotropic. These bio-mechanical models are suitable for computing accurate reaction forces on surgical instruments, and computing deformations of the esophagus during the surgical procedure. Finally, the tissue parameters were combined with geometric organ models segmented from the Visible Human Dataset and integrated into a minimally invasive surgical simulation system consisting of haptic interface devices inside a mannequin and a graphic display.
References C. Basdogan, C. Ho, M.A. Srinivasan. Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration. IEEE/ASME Transactions on Mechatronics 2001; 6: 269-285. 6344 We-Th, no. 14 (P62) The Robin Heart robot choreography and advisory system Z. Nawrat 1,3, P. Kostka 1,2, Z. Mafota 1, M. Ko±lak2. 1Foundation of Cardiac Surgery Development, Zabrze, Poland, 2Silesian University of Technology, Gliwice, Poland, 3Silesian Medical Academy, Zabrze, Poland The introduction of robots to cardiac surgery gave us new possibility of direct and practical use of surgery procedures simulation. Current state of Polish Robin Heart cardiac surgery robot family (first European cardio-robot) is represented by original Master-Slave tele-manipulators equipped with user interface tool, control system and arm with surgery tool. Robin Heart EXPERT advisory system was developed as the integral part of whole system. Information gathered in prepared database may be use by surgeon as on-line expert system to support him in decision making. A first step is to prepare the robotassisted surgery relates to both computer and physical models of particular operation type. Based upon pre-operation cardiac surgery simulations the optimisation of cardiac surgery procedures can be established. As a results of a physical and computer simulations surgery modification of biological system effectiveness with the different surgery techniques usage is studied. As a result of research connected with operation planning the optimisation of port location and choreography of robot arm for this cases is performed. Virtual reality (3D) software have been used for results presentation of the Robin Heart usage on operating room. Conclusion: We propose an original solution of remotecontrol manipulator for cardiac surgery with computer based advisory system. The new models of robot tolls and the effectiveness of task realisation and optimisation of choreography have been established. In the nearest future based on this strategy the Robin Heart robot can be used for new kind of clinical application. 6209 We-Th, no. 15 (P62) New perspectives of computer assisted surgical reconstruction after severe facial injuries L. Kovacs 1, A. Zimmermann 2, H. Wawrzyn 3, H. Seitz 4, C. Tille 4, M. Endlich 1, A. M~ller 1, N. Papadopulos 1, E. Biemer 1. 1Departement ef Plastic and Reconstructive Surgery, Klinikum rechts der Isar, Technical University Munich; 2Departement of Surgery, Klinikum rechts der Isar, Technical University Munich; 3Center of Advanced Studies in Maxille-Facial Surgery, Klinikum rechts der Isar, Technical University Munich; 4Center of Advanced European Studies and Research, Bonn, Germany In severe facial injuries with extensive destruction of anatomical structures, cosmetic and functional outcome of treatment are frequently not satisfactory. Although operative therapy is being continuously refined, the variety and proximity of structures in the facial region is considered a major challenge in reconstructive surgery. We present the case of two patients, one with a severe facial burn injury and an extended dog bite injury. Up to now 2D photos are the most commonly used method for documentation and operation planning in severe facial traumas containing numerous errors (perspective distortions, lack of metric and 3D information). To plan the reconstructive procedure of severe facial injuries, we used a multimodal approach. Based on computed tomography data, a three-dimensional reconstruction of the bony structures was performed and the results were converted into a stereolithographic model. Three-dimensional assessment of the soft tissue surfaces in the severely injured faces was carried out by means of a linear laser scanner, Type Minolta Vivid 910 ® (Minolta Co., Ltd, Osaka, Japan. Amount and pattern of structural loss could thus be determined more precisely and studied more vividly than by inspection of two-dimensional imaging alone. Injured structures to be reconstructed could be projected onto the skin area of