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Computer aided and image guided Medical interventions
Surgical Tools for the Hysteroscopy Simulator
Surgical Tools for the Hysteroscopy Simulator
Semester Project
by Michel Estermann
Tutor: Stefan Tuchschmid
Computer aided and image guided Medical interventions
OutlineOutline
1. Hysteroscopy
2. Hysteroscopy Simulator
3. Tool Modelling
4. Tissue Interaction
5. Result and Outlook
Computer aided and image guided Medical interventions
HysteroscopyHysteroscopy
● endoscopic visualization of uterine cavity
● second most often performed procedure in gynecology
● diagnostic and surgery
Computer aided and image guided Medical interventions
ElectrosurgeryElectrosurgery
● 95 % of all hysteroscopic surgery
● resectosope cutting loop rollerball needle
● resection and coagulation
● high frequency current
Computer aided and image guided Medical interventions
Computer aided and image guided Medical interventions
Hysteroscopy SimulatorHysteroscopy Simulator
• surgical training simulator
• training of manipulativeand procedural skills
• soft tissue deformation
• collision detection and response
• cutting
• haptic device
Computer aided and image guided Medical interventions
ObjectsObjects
Computer aided and image guided Medical interventions
Tool ModelingTool Modeling
• Blender version 2.40
• export wavefront object files (.obj)
• modification of object files
Computer aided and image guided Medical interventions
Tissue interaction: ChemicalTissue interaction: Chemical
Coagulation
• dehydration of cells
• denaturation of proteins ---> white discoloration
• too high energy ---> carbonisation
Computer aided and image guided Medical interventions
Visualization of Tissue InteractionVisualization of Tissue Interaction
Computer aided and image guided Medical interventions
Visualization of Tissue InteractionVisualization of Tissue Interaction
Computer aided and image guided Medical interventions
Visualization of Tissue InteractionVisualization of Tissue Interaction
Computer aided and image guided Medical interventions
Visualization of Tissue InteractionVisualization of Tissue Interaction
Computer aided and image guided Medical interventions
ImplementationImplementation
blend
base
r ~ f(t)opacity ~ f(x-x0, y-y0)
newCol = base * (1-opacity) + blend * opacityx0,y0
x0,y0
r
Computer aided and image guided Medical interventions
ImplementationImplementation
glTexSubImage2D
blend
base
Computer aided and image guided Medical interventions
Result: ToolsResult: Tools
Computer aided and image guided Medical interventions
Result: ToolsResult: Tools
Computer aided and image guided Medical interventions
Computer aided and image guided Medical interventions
OutlookOutlook
• improve visual effect by choosing better overlay texture
• solve problem of texture joint
• find more accurate algorithm to determine coagulation point
• extend to allow coagulation at pathology
• move tissue mesh to increase realism