Efficient Suturing of Deformable Models
Suturing is a fundamental operation in surgical procedures. Simulation of suturing involves the simulation of needle–tissue and thread–tissue interaction, as well as contact between sutured boundaries. In this work, robust methods are proposed for an effi
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Abstract Suturing is a fundamental operation in surgical procedures. Simulation of suturing involves the simulation of needle–tissue and thread–tissue interaction, as well as contact between sutured boundaries. In this work, robust methods are proposed for an efficient finite element-based suture simulation. Contact conditions are modeled using complementarity relations. By exploiting adjacency relationships inherent to simplicial meshes and decomposing rigid body motion into sliding and bulk-deforming components, needle driving can be simulated in real time without introducing any new mesh elements. In addition, a computationally efficient formulation of thread pulling is presented. These techniques are implemented and tested in a prototype system which allows for interactive simulation of suturing with high resolution models.
1 Introduction Suturing is a fundamental operation in surgical procedures. It is an ever-present task in procedures ranging from the closing of lacerations and stitching of wounds in open surgery, to anastomosis and closing of incisions after tissue removal in laparoscopic and robotic-assisted procedures. The techniques for planning suturing
G. Younes () Department of Computer Science, American University of Beirut, Beirut, Lebanon Qatar Robotic Surgery Centre, Qatar Science & Technology Park, Qatar Foundation, Doha, Qatar J. abi-Nahed Qatar Robotic Surgery Centre, Qatar Science & Technology Park, Qatar Foundation, Doha, Qatar G. Turkiyyah Department of Computer Science, American University of Beirut, Beirut, Lebanon A. Wittek et al. (eds.), Computational Biomechanics for Medicine: Models, Algorithms and Implementation, DOI 10.1007/978-1-4614-6351-1 8, © Springer Science+Business Media New York 2013
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tasks and the manual dexterity involved in executing them are essential skills that student surgeons and practitioners develop through training and practice. In the context of laparoscopic and robotic-assisted surgery, with their constrained workspace due to instrument kinematics, this practice often has a steep learning curve, and it takes a substantial amount of training to perfect the necessary skills. The practice generally takes place on suturing boards, phantom models, or live animals (w/o on), but there has been significant interest in the use of simulationbased training tools because of the flexibility in the training scenarios that the simulators can provide, their convenience, and their ultimate cost-effectiveness. The development of surgical training simulators and procedure-rehearsal systems requires reliable models for suture simulation that can pass the tests of face and content validity. The importance of this problem has led to a number of efforts for modeling various aspects of the suturing task. In particular, finite element models for needle insertion and steering inside soft tissue have been described in [1, 2]. In these works, node repositioning, additions, and local remeshing are performed in a two-dimensional or three-dimensional volumetric fi
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