Abstract
Hepatobiliary interventions are regarded as difficult minimally-invasive procedures that require experience and skills of physicians. To facilitate the surgical training, we develop a soft, high-fidelity and durable liver phantom with detailed morphology. The phantom is anatomically accurate and feasible for the multi-modality medical imaging, including computer tomography (CT), ultrasound, and endoscopy. The CT results show that the phantom resembles the detailed anatomy of real livers including the biliary ducts, with a spatial root mean square error (RMSE) of 1.7 ± 0.7 mm and 0.9 ± 0.2 mm for the biliary duct and the liver outer shape, respectively. The sonographic signals and the endoscopic appearance highly mimic those of the real organ. An electric sensing system was developed for the real-time quantitative tracking of the transhepatic puncturing needle. The fabrication method herein is accurate and reproducible, and the needle tracking system offers a robust and general approach to evaluate the centesis outcome.
Highlights
Simulation-based training has been recognized as an effective and safe approach to improve the clinical capabilities of medical professionals
virtual reality (VR) models provide no physical interactions with real surgical tools, which is essential for instrument development; and it offers limited haptic feedbacks to the trainees, making the training scene unrealistic.[17]
Based on the computer tomography (CT) scan, the digital model of the liver phantom was reconstructed and compared with the designed model to assess the accuracy of the fabrication process
Summary
Simulation-based training has been recognized as an effective and safe approach to improve the clinical capabilities of medical professionals. Living animal models and ex vivo models use real biological tissues, they exhibit severe disadvantages such as the inconsistency to human anatomic structures, non-reusable, non-standard, high-cost, requiring veterinary support and ethical issues.[1,28] VR models provide no physical interactions with real surgical tools, which is essential for instrument development; and it offers limited haptic feedbacks to the trainees, making the training scene unrealistic.[17] Mechanical models play an important role in medical training due to the abstract anatomy demonstration, physical interactions, and durability.[4,14] Organ phantom, such as the brain phantom,[7] the cardiac phantom[10,23] and the gastrointestinal (GI) phantom.[8] have been developed for the surgical training and the testing of surgical robots. These technical advances provide the possibilities to make realistic organ phantom using biomimetic soft materials
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