Simulating Surgery using Volumetric Object Representations, Real- Time Volume Rendering and Haptic Feedback

Surgical simulation has many applications in education and training, surgical planning, and intra-operative assistance. However, extending current surface-based computer graphics methods to model phenomena such as the deformation, cutting, tearing, or repairing of soft tissues pose significant challenges for real-time interactions. In this paper, the use of volumetric methods for modeling complex anatomy and tissue interactions is introduced. New techniques for modeling soft tissue deformation and tissue cutting at interactive rates are detailed. In addition, an initial prototype for simulating arthroscopic knee surgery that has resulted from an ongoing collaboration is described. Volumetric models for the knee simulator were derived from 3D Magnetic Resonance Imaging. Visual and haptic feedback is provided to the user via real-time volume and polygon rendering and a force feedback device.