Surgery Simulation and Soft Tissue Modeling: International Symposium, IS4TM 2003. Juan-Les-Pins, France, June 12-13, 2003, Proceedings (Lecture Notes in Computer Science, 2673)

This book constitutes the refereed proceedings of the International Symposium on Surgery Simulation and Soft Tissue Modeling, IS4TM 2003, held in Juan-Les-Pins, France in June 2003. The 33 revised full papers presented together with 3 invited papers were carefully reviewed and selected from 45 submissions. The papers are organized in topical sections on soft tissue models, haptic rendering, cardiac modeling, and patient specific simulators. Surgery Simulation and Soft Tissue Modeling Preface Acknowledgments Organization Table of Contents Measuring and Modeling Soft Tissue Deformation for Image Guided Interventions 1 Introduction: Image Guided Surgery Assuming the Validity of the Rigid Body Transformation 2 Intra-operative Imaging for Guidance 2.1 X-ray 2.2 Ultrasound 2.3 Optical Imaging 2.4 Interventional Magnetic Resonance Imaging (iMRI) 3 Modeling Soft Tissue Deformation in Image Guided Interventions 3.1 Motion Modeling 3.2 Biomechanical Modeling 3.3 Statistical Shape Modeling 4 Conclusions and Discussion References Real-Time Simulation of Self-collisions for Virtual Intestinal Surgery 1 Introduction 2 Related Work 3 Modeling of the Intestinal System 3.1 Geometric Model 3.2 Mechanical Model 4 Real-Time Collision Processing 4.1 Collision Detection 4.2 Collision Response 5 Results 5.1 Validation 5.2 Qualitative Results 6 Conclusion References Modelling of Facial Soft Tissue Growth for Maxillofacial Surgery Planning Environments 1 Introduction 2 Methods 2.1 Basic Model 2.2 Validation 2.3 Soft Tissue Growth 3 Results 4 Discussion 5 Conclusion References A Physically-Based Virtual Environment Dedicated to Surgical Simulation 1 Introduction 2 Previous Work 2.1 Previous Work on Physically-Based Models 2.2 Previous Work on Collision Detection 3 The Generic Physically-Based Model 4 Collision Detection and Depth Evaluation 5 Implementation 5.1 Architecture of the System 5.2 Results 6 Physical Simulation vs Special Effects 7 Conclusion References Soft-Tissue Simulation Using the Radial Elements Method 1 Introduction 1.1 State of the Art 2 Method Presentation 2.1 Static Solution 2.2 Meshing Geometry 2.3 Meshing Algorithm 2.4 Torsional Deformations 2.5 Dynamic Solution 2.6 Results and Future Directions 2.7 Conclusion References GeRTiSS: A Generic Multi-model Surgery Simulator 1 Introduction 2 The Generic Real Time Surgery Simulator (GeRTiSS) 2.1 The Scene Generator 2.2 Surgery Simulator 3 Results 4 Discussion 4.1 The Need for Sense of Touch 4.2 Problems with Haptics with Force Feedback 5 Conclusions References Simulation for Preoperative Planning and Intraoperative Application of Titanium Implants 1 Introduction 2 Methods 2.1 Framework KasOp 2.2 Bending Simulation 2.3 Bending Machine 3 Discussion 4 Conclusion References Deformable Tissue Parameterized by Properties of Real Biological Tissue 1 Introduction 1.1 Objectives 1.2 Contents 2 Bio-tissues Properties 2.1 Bone 2.2 Cartilage 2.3 Ligament 2.4 Conclusion 3 Deformation Model 3.1 Related Work 3.2 Molecules-Based System 3.3 Setting up Springs Stiffness 4 Experiments 4.1 Test Scenarios 5 Discussion and Conclusions References Analysis of Myocardial Motion and Strain Patterns Using a Cylindrical B-Spline Transformation Model 1 Introduction 1.1 Background 2 Method 2.1 Cylindrical Free Form Transformations 2.2 Combined Nonrigid Registration of SA and LA Images 3 Results 3.1 Cardiac Motion Simulator Data 3.2 Volunteer Data 4 Conclusions References Tracking the Movement of Surgical Tools in a Virtual Temporal Bone Dissection Simulator 1 Introduction 2 Methods and Tools 3 Results 4 Conclusions and Future Work References Area-Contact Haptic Simulation 1 Introduction 2 Background 3 Area-Based Haptic Rendering 4 Towards a Real-Time Haptic Rendering 5 Result 5.1 Area-Contact 5.2 Non-homogeneous Volumetric Object 6 Summary References Integrating Geometric and Biomechanical Models of a Liver Tumour for Cryosurgery Simulation 1 Introduction 2 Reconstruction Approach 2.1 Shape Alignment 2.2 Morphological Morphing Based on Conditional Dilation 2.3 Surface Closing 2.4 Surface Fairing 3 Reconstruction Results and Geometric Evaluation 4 Mechanical Model 5 Conclusion References 3D Reconstruction of Large Tubular Geometries from CT Data 1 Existing Approaches 1.1 Vessel Lumen Extraction 1.2 The 3D Skeletonization Problem 2 Solutions Proposed 2.1 Lumen Reconstruction 2.2 Centerline Extraction 3 Experimental Results 4 Conclusions References Tetrahedral Mass Spring Model for Fast Soft Tissue Deformation 1 Introduction 2 Our Model 2.1 Model Components 2.2 Direct Computation of Deformation 2.3 Volume Conservation 2.4 Model Initialization 3 The Simulator 3.1 Point Definition 3.2 Deformation 3.3 Performance Evaluation 4 Conclusion References Surgery Simulation System with Haptic Sensation and Modeling of Elastic Organ That Reflect the Patients' Anatomy 1 Preface 2 Elastic Model for Surgical Simulation 3 Deformation of Volumetric Data 4 Haptic Devices 5 VR Cockpit 6 Conclusions References How to Add Force Feedback to a Surgery Simulator Introduction Materials and Methods Device Handling Control Scheme Impedance Feedback Control Control Modules Control Parameters Results Conclusions References Tissue Cutting Using Finite Elements and Force Feedback 1 Introduction 2 Physical Model 3 3D Volumetric Cutting Algorithm 3.1 Geometric and Physical Criteria 3.2 Select and Separate Tetrahedrons 3.3 Local Remeshing 3.4 Force Feedback 4 Results 5 Conclusion References Mammography Registered Tactile Imaging 1 Introduction 2 Registration Algorithm Development 2.1 Model Development 2.2 Generating the Registration Algorithm 2.3 Model Results 3 Preliminary Application to Clinical Data 3.1 Clinical Data Acquisition 3.2 Clinical Data Results 4 Discussion References Realistic Haptic Interaction in Volume Sculpting for Surgery Simulation 1 Introduction 2 Related Work 3 Methods 3.1 Data Representation 3.2 Tool Representation 3.3 Haptic Surface Rendering 3.4 Volume Interaction 4 Implementation 5 Results and Conclusions References Capturing Brain Deformation 1 Introduction 2 Method 2.1 Preoperative Data Acquisition, Image Segmentation and Fusion 2.2 Intraoperative Image Processing 2.3 Unstructured Mesh Creation and Surface Representation 2.4 Computational Considerations 2.5 Augmented Intraoperative Visualization 3 Results 3.1 Visualization of Preoperative Scans Projected into Intraoperative Configuration 3.2 Validation of Segmentation of Intraoperative Therapy Delivery 4 Discussion and Conclusion References Left Ventricle Composite Material Model for Stress-Strain Analysis 1 Introduction 2 Composite Material Model 2.1 Definition 2.2 Elastic Moduli Evaluation 2.3 Strain-Stress Relation 2.4 Transformation Relation 3 Finite Element Formulation 3.1 Model Dynamics 3.2 Isoparametric Finite Elements 3.3 Residual Strain and Stress 3.4 Boundary Conditions 3.5 Stiffness and Active Force Estimation 4 Results 4.1 Finite Element Model 4.2 Fiber Orientation 4.3 Blood Pressure 4.4 Strain and Stress Distribution 5 Conclusions References Preliminary Validation Using in vivo Measures of a Macroscopic Electrical Model of the Heart 1 Introduction 2 Materials and Methods 2.1 Surgery and Experimental Layout 2.2 Data Acquisition 2.3 Data Analysis 3 Heart Myocardium Modeling 3.1 Geometry of the Myocardium 3.2 Fiber Directions 4 Electrical Model 4.1 Cell Level 4.2 Whole Ventricle Level -- Anisotropy 4.3 Simulation of the {em in vivo} Measurements 4.4 Results of the Wave Propagation 5 Conclusion and Perspectives References An Augmented Reality Approach Using Pre-operative Patient Specific Images to Guide Thermo-Ablation Procedures 1 Introduction 2 Material & Methods 2.1 Acquisition & Surface Model Generation 2.2 Registration 2.3 Annotation 2.4 Visualization 2.5 Hardware Requirements 3 Qualitative Intra-operative Evaluation 4 Discussion References Modeling of Cardiac Electro-Mechanics in a Truncated Ellipsoid Model of Left Ventricle 1 Introduction 2 Modeling of Ventricular Anatomy 3 Modeling of Electrophysiology 4 Modeling of Tension Development 5 Results 6 Discussion References Physical Modeling of Airflow-Walls Interactions to Understand the Sleep Apnea Syndrome 1 Introduction 2 Finite Element Model of the Velum 3 Physical Modeling of the Airflow 4 Coupling the Airflow with the Model of the Velum 5 Experimental Setup 6 Discussion References Evaluation of a New 3D/2D Registration Criterion for Liver Radio-Frequencies Guided by Augmented Reality 1 Introduction 2 Maximum Likelihood 2D/3D Registration 2.1 Standard Projective Points Correspondences (SPPC) Criterion 2.2 Extended Projective Points Correspondences (EPPC) Criterion 2.3 Dealing with 3D and 2D Anisotropic Noise 2.4 Link with Reconstruction and 3D/3D Registration 3 Performances Evaluation and Criteria Comparison 3.1 Accuracy Performances 3.2 Robustness Evaluation 3.3 Computation Times 4 Performances Assessment with Real Data 4.1 Bronze Standard Registration between the CT Images 4.2 Validation Results and Discussion 5 Conclusion References In vitro Measurement of Mechanical Properties of Liver Tissue under Compression and Elongation Using a New Test Piece Holding Method with Surgical Glue 1 Introduction 2 Material and Methods 2.1 Liver Test Piece Preparation and Fixation of a Test Piece 2.2 Measurement of Stress-Strain Relationship 3 Results 3.1 Effect of Compression on Mechanical Strength for Elongation 3.2 Stress and Strain Relationship Measurement 3.3 Heterogeneity of Mechanical Properties in Liver Tissue 3.4 Measurement of Visco-Elastic Properties with Stress Relaxation Tests 4 Discussion References Validation of the Interval Deformation Technique for Compensating Soft Tissue Artefact in Human Motion Analysis 1 Introduction 2 Materials and Methods 2.1 Subjects 2.2 Set-Up and Methodology 2.3 Data Analysis 3 Results 4 Discussion and Conclusions References An Open Software Framework for Medical Applications 1 Introduction 2 Software Architecture 2.1 Core Functionality 2.2 Visualization Infrastructure 3 An Infra Structure for Interaction and Navigation 4 Exemplar Plug-Ins 4.1 Plug-Ins for Visualization 4.2 Plug-Ins for Interaction 5 Results 6 Conclusions References Haptic Simulation of a Tool in Contact with a Nonlinear Deformable Body 1 Introduction 2 Related Work 2.1 Pre-calculation Methods 2.2 Time Integration Multi-resolution Methods 3 System for Tool Contact Simulation 3.1 Normal Contact 3.2 Sliding Contact 4 Construction of the Pre-calculated Responses 5 Implementation 6 Conclusion References Patient-Specific Biomechanical Model of the Brain: Application to Parkinson's Disease Procedure 1 Introduction 2 Stereotactic Neurosurgery for Parkinson's Disease 2.1 Overview of the Surgical Procedure 2.2 The Data 3 Methods 3.1 Displacement Field Extraction from the Non-rigid Registration 3.2 Characteristic Feature Extraction 4 The Biomechanical Model 4.1 Mesh Generation 4.2 Material Parameters 4.3 Boundary Conditions 4.4 Numerical Solving of the Mechanical Problem 5 Results 6 Discussion References Volume Modeling of Myocard Deformation with a Spring Mass System 1 Introduction 2 Modeling 3 Mass Spring Model 4 Simulation and Parameterization 5 Results 6 Discussion 7 Future Work References Towards Patient-Specific Anatomical Model Generation for Finite Element-Based Surgical Simulation 1 Introduction 2 Materials and Methods 2.1 Locally Weighted Mutual Information Registration 2.2 Global Structure-Preserving Voxel Classification 2.3 Simplex-Based Tissue-Guided Surface Meshing with Resolution Control 2.4 Almost-Regular Volumetric Meshing with Radial Resolution Control 3 Results 4 Conclusion and Future Directions References Model Predictive Control for Cancellation of Repetitive Organ Motions in Robotized Laparoscopic Surgery 1 Introduction 2 Laparoscopic Robotic Setup 3 Generalized Predictive Control 3.1 Repetitive {sc arimax} Model 3.2 Separation of Control Input 3.3 Comments on the Breathing Period 4 Experimental Results 5 Validation in {em in vivo} Conditions 6 Conclusion References Virtual Radiofrequency Ablation of Liver Tumors 1 Introduction 2 State of the Art 2.1 Lesion Size and Shape 2.2 Treatment Simulation and Planning 3 Radiofrequency Ablation Simulation 3.1 Chosen Framework 3.2 Enhancement of Realism 4 Results and Perspectives 5 Conclusion References Pathology Design for Surgical Training Simulators 1 Introduction 2 Pathologies in the Uterine Cavity 2.1 Myoma Formation 2.2 Polyp Formation 3 Skeleton Based Pathology Design 4 Fusion of Pathology with Healthy Anatomy 5 Conclusion and Future Research References Author Index