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首页> 外文会议>ICME International Conference on Complex Medical Engineering >Simulation of the Virtual Reality based Robotic Catheter System
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Simulation of the Virtual Reality based Robotic Catheter System

机译：基于虚拟现实的机器人导管系统的仿真

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Minimally Invasive Surgery (MIS) is a specialized surgical technique that permits vascular interventions through very small incisions and minimizes the patient's trauma and permits a faster recovery compared to traditional surgery. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. However, the significant disadvantage of this surgery technique is complexity and it requires extensive training before surgery. The unavailability of force and tactile feedback the operator must determine the required action by visually examining the remote site and therefore limiting the tasks. In this paper, we present virtual reality simulators for training with force feedback in minimally invasive surgery which allows generating realistic physical-based model of catheter and blood vessels, and enables surgeons to touch, feel and manipulate virtual catheter inside vascular model through the same surgical operation mode used in actual MIS. In this paper, the design of the MIS VR system and initial experimental results are presented and the experimental results show that the error rate is in an acceptable range and the simulators can be used for surgery training.
机译：微创手术（MIS）是一种专业的外科手术技术，允许通过非常小的切口血管干预，并使患者的创伤最小化并允许与传统手术相比更快的恢复。远程医疗是通过在远程站点提供紧急护理，远程控制机器人可能产生重大影响的一个领域。然而，这种手术技术的显着缺点是复杂性，并且在手术前需要进行广泛的训练。效力和触觉反馈的不可用性操作员必须通过视觉检查远程站点并因此限制任务来确定所需的操作。在本文中，我们展示了虚拟现实模拟器，用于训练在微创手术中的力量反馈，允许产生基于现实的导管和血管模型，并通过相同的手术使外科医生触摸，感受和操纵虚拟导管内的血管模型内的虚拟导管实际MIS中使用的操作模式。本文提出了MIS VR系统的设计和初始实验结果，实验结果表明，误差率处于可接受的范围，模拟器可用于外科培训。

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