An intestinal surgery simulator: real-time collision processing and visualization.

This research work is aimed toward the development of a VR-based trainer for colon cancer removal. It enables the surgeons to interactively view and manipulate the concerned virtual organs as during a real surgery. First, we present a method for animating the small intestine and the mesentery (the tissue that connects it to the main vessels) in real-time, thus enabling user interaction through virtual surgical tools during the simulation. We present a stochastic approach for fast collision detection in highly deformable, self-colliding objects. A simple and efficient response to collisions is also introduced in order to reduce the overall animation complexity. Second, we describe a new method based on generalized cylinders for fast rendering of the intestine. An efficient curvature detection method, along with an adaptive sampling algorithm, is presented. This approach, while providing improved tessellation without the classical self-intersection problem, also allows for high-performance rendering thanks to the new 3D skinning feature available in recent GPUs. The rendering algorithm is also designed to ensure a guaranteed frame rate. Finally, we present the quantitative results of the simulations and describe the qualitative feedback obtained from the surgeons.

Special visual effects for surgical simulation: cauterization, irrigation and suction.

Simulation of cauterization and irrigation forms an important part of a virtual laparoscopic trainer. Typically, they are carried out to stop the intragastric bleeding due to an accidental cut by the surgeon. In this paper, we present a method to simulate these special visual effects in an integrated fashion in real-time. We have simulated cauterization and irrigation using a particle-based system. A physics-based model is used to simulate accumulation and removal of fluids. The integrated special effects were implemented and tested in a prototype environment.