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Virtual Reality Simulators for Minimal Invasive Surgery Training

SMART Lab. C. Virtual Reality Simulators for Minimal Invasive Surgery Training. I. U. Shamyl Bin Mansoor , SMART Lab, SEECS , NUST, Islamabad. School of Electrical Engineering & Computer Science, National University of Sciences & Technology, Pakistan. About the Team.

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Virtual Reality Simulators for Minimal Invasive Surgery Training

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  1. SMART Lab C Virtual Reality Simulators for Minimal Invasive Surgery Training I U Shamyl Bin Mansoor, SMART Lab, SEECS, NUST, Islamabad School of Electrical Engineering & Computer Science, National University of Sciences & Technology, Pakistan

  2. About the Team • School of Electrical Engineering & Computer Science • Dr OsmanHasan, Project Director • Dr MuddassirMalik Co-PI, • Dr ArshadAli, DG, SEECS, NUST • Shamyl Bin Mansoor, Co-PI • Researchers • ZaheerMukhtar (Software Engineer) • Taimur Hassan (Mechanical Engineer) • FarrukhHijaz (Electrical Engineer) • Holy Family Hospital, Rawalpindi • Dr AsifZafar, Professor of Surgery, Head Surgical Unit -2, • Dr Qasim Ali, Senior Registrar (Surgeon) • Dr Faisal Murad, Senior Registrar (Surgeon) SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  3. Outline • Motivation • Our Project • Challenges • Developing the System • Our Approach • About the Lab SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  4. Motivation • Minimal Invasive Surgery is currently in vogue • Operations once performed “open” are now done almost exclusively using laparoscopes • The latest trend is to perform robots assisted surgery • All these new skills require special training • Hand Eye Coordination • Navigation of Camera and Laparoscopic instrumentsin a confined space SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  5. Background SMART Lab C MIS I U Conventional Surgery Conventional Open Surgery Vs Minimal Invasive Surgery • * Images courtesy of Dr AsifZafar (Holy Family Hospital, Rawalpindi)

  6. Background • Robots Assisted Minimal Invasive Surgery Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  7. State of the Art SMART Lab ProMISby Haptica, Ireland C LapSIM By Surgical Science, Sweden I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  8. Our Project • Objectives • Developing a cost effective training system for Minimal Invasive Surgery • Major Components • Virtual Reality Simulator for Minimal Invasive Surgery • Training Robot for Robot assisted Minimal Invasive Surgery • Value Addition • Simulating Real Surgery Scenes recorded at Holy Family Hospital • Using open source tools making it cost effective • HapticIntercface with the Simulator • Developing basic and advanced exercises (Fundamentals of Laparoscopic Surgery (FLS) curriculum) SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  9. The Concept SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  10. Challenges • The first challenge is to model the human anatomy • Making 3D models that exactly look like the original ones • The second challenge is to simulate this 3D model to act like the real thing • For example a 3D model of heart can only be called a heart model if it acts like a human heart too, beating and pumping blood • Simulating Tissue behavior • The third challenge is to simulate the environment within the human body • What happens if an external object pokes a tissue? • In real-life the tissue or that part of the body would start to bleed internally • How can that be simulated SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  11. System Components SMART Lab C I U Dataset Mechanical Object Tissue Modeling and Characterization Illumination Mechanism Collision Detection Teaching Resources Assessment through metrics and feedback Performance Monitoring Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  12. Teaching Resources and Assessment SMART Lab C I U • Implementing Laparoscopic Training Manual and specific scenarios • Cues, Feedback and comparisons • Assessment through metrics and qualitative feedback • Errors • Movement • Time • Forces Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  13. Four Modules • Simulation Engine • Based on Simulation Open Framework Architecture • Modeling and Simulation • Basic Training Module • Fundamentals of Laparoscopic Surgery Curriculum for Surgeon Training • Advanced Training Module • Simulation of complex laparoscopic procedures • Videos provided by Holy Family Hospital of different scenarios of laparoscopic surgery • Evaluation Module • Evaluation of surgeons on the basis of simulator training SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  14. Our Approach • We are utilizing open source framework for developing our system • Using SOFA (Simulation Open Framework Architecture) as the core of our system • Creating simulations of real scenarios from Holy Family’s database of over 100 videos • Formal Verification of the system SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  15. Formal Verification • A Safety Critical Application • A minor glitch in the analysis phase could result in disastrous consequences • Potential Analysis Aspects • Evaluating Behavioral Correctness of Telesurgical Robotic Systems • Formal Reliability Analysis of Telesurgical Robotic Systems • Formal Verification and Performance Analysis of TelesurgicalNetwork Protocols SMART Lab C I U

  16. Current Progress • Developed basic exercises of FLS Curriculum • Integrated a conventional joystick for camera navigation SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  17. Demo Video SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  18. Demo Video 2 SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  19. Research Areas at SMART lab • We are also interested in a number of other areas which include • Android based Disaster Management Systems • Telemedicine Systems using mobile telephony • Intelligent Robotics • Brain Machine Interface • Visualization Techniques More Information Available at http://smart.seecs.nust.edu.pk SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

  20. Thank You Contact Us! smartlab@seecs.edu.pk shamyl.mansoor@seecs.edu.pk SMART Lab C I U Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

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