A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

• Published in: 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1732 - 1737
• Main Authors: Zhang, Le, Ye, Yanchen, Niu, Baoshan, Xiong, Genliang, Yang, Dapeng
• Format: Conference Proceeding
• Language: English
• Published: IEEE 05.12.2022
• Subjects: Biological system modeling; Biological tissues; Deformable models; Minimally invasive surgery; Training; Ultrasonic imaging; Visualization
• DOI: 10.1109/ROBIO55434.2022.10012012

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio ® (Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model.