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The generalized implementation of virtual instruments for surgical simulation Kevin Montgomerl, Cynthia Bruynsa,b, Ani! Menona,b "National Biocomputation Center, Stanford University, 701A WeIch Rd, Suite 1128, Palo Alto, CA 94305 bBioVIS Center, NASA Ames Research Center, Moffett Field, CA 94035

Abstract The proliferation of surgical simulators would be increased if a common framework and set of virtual instruments existed for use by the application developer. We describe such a framework consisting of a powerful abstraction of a user interaction device, which can be attached to any virtual instrument. A functional taxonomy of instruments is also provided. Keywords: Virtual instruments, surgical simulation.

1. Introduction The benefits of computer-based surgical simulation have been widely discussed and quantitatively demonstrated by many researchers. The benefits include the ability to broaden surgical training by easily providing different training scenarios, objectively quantify surgical performance, and accelerate the acquisition of baseline surgical skills without risk to real patients. Two key areas of implementation for these simulators are the interface to user interaction devices (such as haptic and non-haptic tracking devices) and the development of virtual instruments. As in other areas of development, each research group must implement this infrastructure and this time consuming, repetitious, and error-prone coding takes time and resources away from development of the simulation application itself. Instead, the field would derive great benefit from a general framework for tools and device interface. Functionally, this framework should support mapping from any hardware device to a suite of virtual instruments, to allow any available hardware to control any required surgical instrument. The purpose of this paper is to describe such a framework that is part of a simulation system which we have been developing called Spring[1]. The system has been used to develop a number of applications[2-7] and been refined and enhanced over time. It is our intent to share these details of implementation and to release the code and corresponding virtual instruments in order to help the field achieve faster development and, hopefully, greater proliferation and adoption within the medical community.

CARS 2002 - H. U. Lemke, M. W Vannier; K Inamura, A,G, Farman, K Doi & JH.C Reiber (Editors) CARS/Springer. All rights reserved, C

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2. Methods The Spring surgical simulator is cross-platform and runs on Unix (Sun Solaris, SGI Irix, and Linux) and Windows (98INTI2000IXP) platforms. It is written in C++ and uses OpenGL for graphics; GLUT, GLUI, and MUI for user interface; and supports parallel processing. It allows for the easy introduction of patient-specific anatomy and supports many common file formats. It performs soft-tissue modeling[8], limited rigid-body dynamics, and suture modeling[8]. The simulator interfaces to many different interaction devices and provides for multi-user, multi-instrument collaboration ove