Avirtualrealitysurgerysimulationofcuttingandretractionin.docVIP

Submitted for publication in Computer Methods & Programs in Biomedicine Revised paper: 19 April 2006 First submitted: 24 November 2005 A virtual reality surgery simulation of cutting and retraction in neurosurgery with force-feedback P. Wang 1, A. A. Becker *1, I. A. Jones 1 , A.T. Glover 2, S. D. Benford 2, C. M. Greenhalgh 2 and M. Vloeberghs 3 1 School of Mechanical, Materials, Manufacturing Engineering and Management, 2 School of Computer Science and Information Technology 3 School of Human Development University of Nottingham, UK * Corresponding author. Prof. A.A. Becker Head of Structural Integrity and Dynamics Research Group School of Mechanical, Materials and Manufacturing Engineering University of Nottingham University Park Nottingham NG7 2RD Tel : (0115) 951 3791 Fax : (0115) 951 3800 Email a.a.becker@nottingham.ac.uk Abstract A virtual-reality surgical simulator aimed at neurosurgery is presented. The simulator utilises Boundary Element (BE) technology to develop real-time realistic deformable models of the brain. The simulator incorporates the simulation of surgical prodding, pulling and cutting. Advanced features include the separation the cut surfaces by retractors and post-cutting deformations. The experience of virtual surgery is enhanced by implementing 3D stereo vision and the use of two hand-held force-feedback devices. Keywords: Virtual reality, surgery simulation, haptic feedback, Boundary Element method, neurosurgery  1. INTRODUCTION Standard surgical training consists of the acquisition of theoretical knowledge complemented with practical observation during surgery and, at a suitably advanced stage, performing the relevant procedures on real patients under appropriate supervision. Similarly, more experienced surgeons still require training to perform complex, non-routine operations. However, a potentially contradictory situation exists whereby patients’ expectations of surgical experience are obviously high, whereas cli