High-fidelity Simulation of Video-Assisted Thoracoscopic Surgery Lobectomy

doi:10.16182/j.issn1004731x.joss.18-CG0599

Abstract

Abstract: The virtual reality simulator of the video-assisted thoracoscopic (VATS) surgery lobectomy is of great value to the surgeon's surgical training and planning. In order to simulate the high-fidelity video-assisted thoracoscopic lobectomy, a VATS lobectomy simulator to realistically and efficiently simulate the different surgical operations during the VATS lobectomy procedure is developed. Based on the Position-Based Dynamics framework, the deformation induced by tool-tissue and tissue-tissue interactions, soft tissue cuts as well as subsequent surgical suture operations is simulated. The Marching Cubes algorithm is employed to achieve the surface rendering, especially for the cutting process. The GPU parallel computing technique is employed to accelerate the surgical simulation and surface rendering. The experimental results show that the proposed method can achieve high fidelity, stable and efficient VATS surgery simulation results.

Key words: VATS lobectomy, interactive simulation, deformation, cutting, suturing

CLC Number:

TP391.41

Peng Liu, Si Weixin, Zheng Rui, Liao Xiangyun, Xu Dongliang, Wang Ping'an. High-fidelity Simulation of Video-Assisted Thoracoscopic Surgery Lobectomy[J]. Journal of System Simulation, 2020, 32(5): 826-836.

References 32

[1]	郭睿, 金澄宇, 努尔兰·阿汗. 电视胸腔镜下治疗非小细胞肺癌倾向性匹配研究的系统性评价[J]. 中华腔镜外科杂志(电子版), 2014, 7(4): 283-288.Guo Rui, Jin Chengyu, Nu Erlan.Thoracoscopic Treatment of Lung Cancer in Non-small Cell Propensity Matching Systematic Evaluation[J]. Chin J Laparoscopic Surgery (Electronic Edition), 2014, 7(4): 283-288.
[2]	胡志鹏, 高哲俊, 杨林江, 等. 胸腔镜与开胸肺叶切除术的比较[J]. 中国微创外科杂志, 2016, 16(11): 956-968.Hu Zhipeng, Gao Zhejun, Yang Linjiang, et al.Comparison of Video-assisted Thoracoscopic Lobectomy with Open Lobectomy[J]. Chin J Min Inv Surg, 2016, 16(11): 956-968.
[3]	金石华, 张弋, 孙国锋, 等. 腹腔镜模拟训练对不同经验医生腹腔镜手术基本技能训练的效果[J]. 中国内镜杂志, 2014, 20(1): 34-37.Jin Shihua, Zhang Yi, Sun Guofeng, et al.Effect of Laparoscopic Simulate Training on Improvement of Basic Skills of Surgeons with Different Experience[J]. China Journal of Endoscopy, 2014, 20(1): 34-37.
[4]	焦鹏, 李简, 孙耀光, 等. 三种胸腔镜肺癌切除术式的对比研究[J]. 中国腔镜外科杂志(电子版), 2016, 9(1): 29-32.Jiao Peng, Li Jian, Sun Yaoguang, et al.A Comparative Study for Three Methods of Thoracoscopic Resection of Lung Cancer[J]. Chin J Laparoscopic Surgery( Electronic Edition), 2016, 9(1): 29-32.
[5]	杨扬, 肖飞, 孟坤等 . 三维虚拟环境中二维平面动态实时渲染方法[J]. 计算机科学, 2011, 38(6): 279-282.Yang Yang, Xiao Fei, Meng Kun, et al.Solution to Render the 2D Timely in the 3D Visual Reality[J]. Computer Science, 2011, 38(6): 279-282.
[6]	张文波, 曹雷, 熊君君. 虚拟现实技术的现实挑战[J]. 中国科学: 信息科学, 2016, 46(12): 1779-1784.Zhang Wenbo, Cao Lei, Xiong Junjun.The Real Challenge of Virtual Reality Technology[J]. Scientia Sinica Informations, 2016, 46(12): 1779-1784.
[7]	Qi D, Panneerse L K, Ahn W, et al.Virtual Interactive Suturing for the Fundamentals of Laparoscopic Surgery(FLS)[J]. Journal of Biomedical Informatics (S1532-0464), 2017, 75(12): 48-62.
[8]	Macklin M, Müller M, Chentanez N, et al.Unified Particle Physics for Real-time Applications[J]. ACM Transactions on Graphics (TOG)(S0730-0301), 2014, 33(4): 1-12.
[9]	Umentani N, Schmidt R, Stam J.Position-based elastic rods[C]. SCA'14: The ACM SIGGRAPH / Eurographics Symposium on Computer Animation. Goslar Germany: Eurographics Association, 2014.
[10]	Berndt I, Torchelsen R, Maciel A.Efficaient Surgical Cutting with Position-Based Dynamics[J]. IEEE Computer Graphics & Applications (S0272-1716), 2017, 38(3): 24-31.
[11]	Camara M, Mayer E, Darzi A, et al.Soft Tissue Deformation for Surgical Simulation: a Position-based Dynamics Approach[J]. International journal of computer assisted radiology and surgery (S1861-6410), 2016, 11(6): 919-928.
[12]	吕梦雅, 韩育芳, 唐勇. 虚拟手术中缝合过程的相关技术[J]. 吉林大学学报(工学版), 2013, 27(增1): 16-20.Lü Mengya, Han Yufang, Tang Yong.Correlation Technology of Suturing Procedure in Virtual Surgery[J]. Journal of Jilin University( Engineering and Technology Edition), 2013, 27(S1): 16-20.
[13]	赵沁平, 张绍祥, 樊瑜波, 等. 可交互人体器官数字模型及虚拟手术研究[J]. 中国科学: 信息科学, 2016, 46(12): 1769-1773.Zhao Qinping, Zhang Shaoxiang, Fan Yubo, et al.Digital Model of Interactive Human Organs and Virtual Surgery Research[J]. Scientia Sinica Informations, 2016, 46(12): 1769-1773.
[14]	张小瑞, 王澎湃, 孙伟, 等. 虚拟手术中软组织切割模型研究进展[J]. 计算机应用研究, 2017, 34(9): 2561-2569.Zhang Xiaorui, Wang Pengpai, Sun Wei, et al.Research Progress on Soft Tissue Cutting Model in Virtual Surgery[J]. Application Research of Computers, 2017, 34(9): 2561-2569.
[15]	贾世宇, 潘振宽. 虚拟手术中缝合仿真的初步研究[J]. 系统仿真学报, 2012, 24(8): 1618-1623.Jia Shiyu, Pan Zhenkuan.Preliminary Study of Simulating Suture Operation in Virtual Surgery[J]. Journal of System Simulation, 2012, 24(8): 1618-1623.
[16]	潘家辉, 鲍苏苏. 一种胆道虚拟手术仿真系统[J]. 计算机应用研究, 2010, 27(2): 566-568.Pan Jiahui, Bao Susu.Kind of Biliary Tract Virtual Surgery Simulation System[J]. Application Research of Computers, 2010, 27(2): 566-568.
[17]	汪军, 刘冬. 一种胆囊切除虚拟手术仿真训练平台的研究[J]. 系统仿真学报, 2016, 28(8): 1853-1862.Wang Jun, Liu Dong.Research on Cholecystectomy Virtual Surgery Simulation Training Platform[J]. Journal of System Simulation, 2016, 28(8): 1853-1862.
[18]	闫志远, 杜志江, 吴冬梅. 再现软组织特性的小球作用模型[J]. 计算机辅助设计与图形学学报, 2014, 26(8): 1346-1353.Yan Zhiyuan, Du Zhijiang, Wu Dongmei.Ball Interaction Model for Characteristics Simulation of Soft Tissue[J]. Journal of Computer-Aided Design & Computer Graphics, 2014, 26(8): 1346-1353.
[19]	刘秀玲, 陈栋, 董亚龙, 等. 真实软组织特性的肝脏组织物理建模及受力分析优化[J]. 计算机辅助设计与图形学学报, 2013, 25(7): 1029-1035.Liu Xiuling, Chen Dong, Dong Yalong, et al.Rhysical Modeling and Stress Analysis for Liver Tissue Based on Real Soft Tissue Characteristics[J]. Journal of Computer-Aided Design & Computer Graphics, 2013, 25(7): 1029-1035.
[20]	李云婧, 李宬润, 马永富, 等. 虚拟现实导航技术在胸腔镜下肺段切除中的临床应用[J]. 中华肺部疾病杂志(电子版), 2017, 10(4): 461-464.Li Yunjing, Li Chengrun, Ma Yongfu, et al.Application of Virtual Reality Navigation Technique in Thoracoscopic Lung Segmentectomy[J]. Chinese Journal of Lung Diseases(Electronic Edition), 2017, 10(4): 461-464.
[21]	Jensen K, Bjerrum F, Hansen H J, et al.Using Virtual Reality Simulation to Assess Competence in Video-assisted Thoracoscopic Surgery (VATS) Lobectomy[J]. Surgical Endoscopy (S0930-2794), 2017, 31(6): 2520-2528.
[22]	李宬润, 马永富, 梁朝阳, 等. 三维虚拟现实导航胸腔镜下肺叶切除技术初探[J]. 中华腔镜外科杂志, 2016, 9(5): 307-309.Li Chengrun, Ma Yongfu, Liang Chaoyang, et al.Preliminary Study of Three-dimensional Virtual Reality Navigation under Thoracoscopic Lobectomy[J]. Chinese Journal of Laparoscopic Surgery(Electronic Edition), 2016, 9(5): 307-309.
[23]	Caccamo S, Güler P, Kjellstrm H, et al.Active Perception and Modeling of Deformable Surfaces using Gaussian Processes and Position-based Dynamics[C]. IEEE-RAS International Conference on Humanoid Robots (Humanoids). Cancun, Mexico: IEEE, 2016.
[24]	Macklin M.Position based fluids[J]. Acm Transactions on Graphics (S0730-0301), 2013, 32(4): 1-12.
[25]	Gu Y, Yang K, Lu C.Constraint Solving Order in Position Based Dynamics[C]. International Conference on Electrical, Automation and Mechanical Engineering. Shanghai, China: Atlantis Press, 2017.
[26]	Bender J, Müller M, Otaduy M A, et al.A Survey on Position-Based Simulation Methods in Computer Graphics[J]. Computer Graphics Forum, 2014, 33(6): 228-251.
[27]	Guanwu J, Minzhou L, Saixuan C.Research on 3 Dimensional Reconstruction of CT Images Based on Improved Filtering Algorithm[C]. IEEE International Conference on Mechniacl and Intelligent Manufacturing Techbologies. Cape Town, South Africa: IEEE, 2018.
[28]	Gross M.Interactive Virtual Materials[C]. GI '04: Proceedings of Graphics Interface. Waterloo, Canada: Canadian Human-Computer Communications Society, 2004.
[29]	Müller M, Keiser R, Nealen A, et al.Point Based Animation of Elastic, Plastic and Melting objects[C]. ACM Siggraph/eurographics Symposium on Computer Animation. Goslar, Germany: Eurographics Association, 2004.
[30]	王晓荣, 王萌, 李春贵. 基于AABB包围盒的碰撞检测算法的研究[J]. 计算机工程与科学, 2010, 32(4): 59-61.Wang Xiaorong, Wang Meng, Li Chungui.Research of Collision Detection Algorithms Based on AABB[J]. Computer Engineering & Science, 2010, 32(4): 59-61.
[31]	Bender J, Dan K, Charrier P, et al.Position-based Simulation of Continuous Materials[J]. Computers & Graphics, 2014, 44: 1-10.
[32]	J S Y, P Z K, W G D, et al.Stable Real-Time Surgical Cutting Simulation of Deformable Objects Embedded with Arbitrary Triangular Meshes[J]. Journal of Computer Science and Technology (S1860-4749), 2017, 32(6): 1198-1213.