Abstract
The development of new robotic surgical instruments has brought significant improvements to the execution and outcome of surgical procedures. They allow shorter intraoperative interventions with higher precision of the surgical gesture, which has clear benefits for the patients, surgeons and hospitals. Perhaps the main retardant of the widespread of these new tools is the ability of getting the surgeonâ??s hands-on with the new systems, for both initial evaluation and later on to overcome the initial learning curve. To accelerate this stage, and keep costs to a minimum, simulation tools have been introduced which allow physical surgeon-patient interaction through haptic devices. In this work, we focus on the Hip Resurfacing Surgical Procedure, and develop an interactive virtual environment for the insertion of the hip resurfacing guide wire with high precision and accuracy. The surgical tool used is a robotic arm that allows geometric accuracy and repeatability while the surgeon keeps control over the force exerted on the patient.
Highlights
In the last two decades, haptic systems have been an active area of research, where surgical training environments are an important area of focus for haptic devices
A haptic system and virtual environment are integrated for simulating the guide wire insertion into the femural head in the hip resurfacing surgical procedure
The haptic device used is the Novint Falcon, and the virtual environment is created in Matlab/Simulink for fast implementation of control algorithms, despite of all the necessary interface development [2]
Summary
In the last two decades, haptic systems have been an active area of research, where surgical training environments are an important area of focus for haptic devices. A haptic system and virtual environment are integrated for simulating the guide wire insertion into the femural head in the hip resurfacing surgical procedure. The haptic device used is the Novint Falcon, and the virtual environment is created in Matlab/Simulink for fast implementation of control algorithms, despite of all the necessary interface development [2]. A modified Hertz Law is used to model the bone-tool interaction force, and a variable impedance force law is used for the virtual surgical robot to guide the surgeon’s hand to the correct position over the femur.
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More From: International Journal of Online and Biomedical Engineering (iJOE)
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