Research index
Medical Virtual Reality †
Summary †
Virtual reality for clinical medicine †
VRASS(Virtual Reality Aided Surgical Simulation) project proceeds research of applying advanced information and engineering technologies such as virtual reality and physical simulation to medical education and clinics. In addition to modelling physical parameters and funcitons of human, developing interactive surgical simulation are main topics for next generated surgical planning and clinical education. Supporting methods of construting organ model and standarization of real-time medical simulation. Following three axes are main topics.
* Application of VR Simulation for Pre-operative Planing
* Application of VR Simulation for Clinical Education
* Support of Creating Medical Data and Standarization of VR Simulation Modules
Surgical Planning System †
- Concept -
Surgical planning is so significant as to influence operation results.
By introducing VR simulation into Traditional planning, rehearsals with
realistic deformation and manual skills can be realized.
The technologies enable efficient planning and danger management.
Education and Training - VR training simulator - †
- Concept -
Rapid progress of medicine requires establishment of new education methods.
The aims of this study is to establish training environment that helps to
acquire necesarry knowledge and skills 'efficiently' and 'safely'.
Aorta Palpation Simulator †
- Yasuhiro YAMAMOTO, Megumi NAKAO
In cardiac surgery, surgeon palpates an aorta to detect stiffed part. The system simulates FEM based real-time deformation and allows 'pinch' an aorta with haptic feedback to two fingers.
Trial to introduce the system for practicing medical students was done. An experiment revealed the effectiveness of the sysytem in teaching stiffness compared to traditional teaching ways.
- Figure: Aorta palpation simulator. (a)Aorta deformation in palpaiton (b)Force value in palpating normal and stiffed parts
- Selected publications
- M. Nakao, T. Kuroda, M. Komori and H. Oyama, “Evaluation and User Study of Haptic Simulator for Learning Palpation in Cardiovascular Surgery”, International Conference of Artificial Reality and Tele-Existence (ICAT), pp. 203-208, 2003.
- (Award of Outstanding Paper)
- Y. Yamamoto, M. Nakao, T. Kuroda, H. Oyama, M. Komori, T. Matsuda, G. Sakaguchi, M. Komeda and T. Takahashi, "Palpation Simulator of Beating Aorta for Cardiovascular Surgery Training", IEEJ Transactions on Sensors and Micromachines, Vol. 123, No. 3 pp.85-91, 2003. (in Japanese)
Rectal palpation simulator with soft tissue interaction †
Most palpation can be categorized to "indirect" palpation, because target tissue cannot be touched by skin and so on. In this study, deformation from the collisions of soft tissue is simulated and indirect palpation is simulated. We developed interaction model between soft tissue and applied to the case of rectal palpation, which is generally carried out in urology. Prostate is touched indirectly by pushing rectum.
- Figure: Rectal palpation simulator.
- (a) Rectum is displayed transparently. A red ball represents a finger position.
- (b) Prostate is deformed by pushing rectum from inner side by finger. Reaction force is displayed to the fingertip.
- Contributors
- Koji Yoshimura (Dept. of Urology, Kyoto Univ. Hospital)
- Toshiyuki Kamoto (Dept. of Urology, Kyoto Univ. Hospital)
- Hiroshi Oyama (Graduate School of Medicine, The Univ. of Tokyo)
- Osamu Ogawa (Dept. of Urology, Kyoto Univ. Hospital)
- Selected publications
- Y. Kuroda, M. Nakao, T. Kuroda, H. Oyama and M. Komori, "Interaction Model between Elastic Objects for Haptic Feedback considering Collisions of Soft tissue", Computer Methods and Programs in Biomedicine (Elsevier Science), Vol.80, No.3, pp.216-224, December 2005.
Ablation simulation †
- Constuction of physics-based soft tissue destruction model -
Simulation of several manipulations is needed by useful VR training simulator. Conventional simulation of deformation with visualization is not enough to construct a environment of VR operation for training. A physics-based soft tissue model would be able to express really behaviors of interactive deformation and destruction. Our research provided a physics-based soft tissue mode that calculates destruction of its own by stress distribution during deformation. The proposed model can provide not only visual and haptic deformation, but also visual and haptic destruction.
- Tension test by expansion of 2-layered soft tissue expresses destruction related to stress distribution.
- Selected publications
- N. Kume, M. Nakao, T. Kuroda, H. Yoshihara and M. Komori, "Ablation Simulator Based on FEM Soft Tissue Destruction Model", CME2005, pp. 283-286, May 2005.
- N. Kume, M. Nakao, T. Kuroda, H. Yoshihar and M. Komori, “FEM-Based Soft Tissue Destruction Model for Ablation Simulator”, Medicine Meets Virtual Reality 13, pp. 263-269, 2005.
Organ exclusion simulation with multi-finger haptic interaction †
Doctors use digital methods in abdominal operations. For examle, digital methods are grasping, palpation, exclusion and so on.The goal of this study is to develop a training system, which allows medical trainee to train hand-based manipulation of organs. We use CyberForce(Immersion Corp.) as a haptic device for display of forces to fingers.
- Exclusion simulation. (a)Vessel exclusion simulation (b)Liver exclusion simulation
- Selected publications
- Y. Kuroda, M. Hirai, M. Nakao, T. Sato, T. Kuroda, K. Nagase and H. Yoshihara ,"Organ Exclusion Simulation with Multi-finger Haptic Interaction for Open Surgery Simulator", Medicine Meets Virtual Reality, 2007. (To appear)
- Y. Kuroda, M. Hirai, M. Nakao, T. Kuroda, K. Nagase and H. Yoshihara, "Multi-finger Haptic Interaction for Soft Tissue Exclusion Manipulation", SIGGRAPH Poster, 2006.
- M. Hirai, Y. Kuroda, M. Nakao, T. Kuroda and H. Yoshihara, "A Learning Environment of Hand-based Manipulation of Elastic Bodies for Medical Procedure", VRSJ(Virtual Reality Society of Japan), pp.391-392, 2005.
- M. Hirai, N. Kume, Y. Kuroda, M. Nakao, T. Kuroda and H. Yoshihara, "Prototyping of VR Palpation Simulator with Haptic Glove", ISCIE(Insutitute of Systems, Control and Information Engineers), pp.651-652, 2005.
Skill Teaching †
Annotation Framework for Simulator-based Surgical Skill-Transfer †
This study pursues to enhance surgical simulators with a framework for skill-transfer. The methodology is based on annotation of recorded simulation and assessment of surgical manipulation by using low-level physics-based metrics. Benefits of this indirect, Annotated Simulation Record (ASR) -mediated approach) are reduced constraints of time, space and number of people involved in simulator-based training. Medical teacher records a surgical simulation session which is edited into an example Simulation Record (SR). The SR is segmented and annotated by a medical teacher. The annotating teacher not only describes the events in the SR informally by text or audio, but also defines priorities for metrics that are used in each segment of the SR. The metrics allow low-level assessment of physical aspects of surgical manipulation, such as trajectory (evaluated by e.g. accuracy or smoothness) or force (evaluated by e.g. peak or average power). Thus, the success factors for each step of the surgical procedure are defined by the teacher's formal annotation. The residents start self-learning by replaying the ASR, viewing the annotations, and practicing with the aid of the “guidance” inputted into the ASR by the teacher.
 - Figure: Indirect, cyclic simulator-based training using ASRs.
- Selected publications
- M. Rissanen, Y. Kuroda, M. Nakao, N. Kume, T. Kuroda and H. Yoshihara, “Annotated Surgical Manipulation for Simulator-based Surgical Skill-transfer using SiRE - Simulation Record Editor”, 3rd Symposium on Biomedical Simulation (ISBMS), Zurich, July 10-11, 2006 (To appear)
- M. Rissanen, Y. Kuroda, N. Kume, M. Nakao, T. Kuroda and H. Yoshihara, "Audiovisual Guidance for Simulated One Point Force Exertion Tasks", ACM VRCIA, June 14-17, 2006. (To appear)
- M. Rissanen, N. Kume, Y. Kuroda, M. Nakao, T. Kuroda and H. Yoshihara, "Visual Annotation of Force based Recorded Simulation for Palpation Training", 5th Conference of Japanese Society for Medical Virtual Reality, pp.14, 2005.
Distributed VR Simulation †
Physics-based Distributed VR Simulation †
Current personal computer based VR simulation always faces to limitation of computation resources when a model handles destruction with deformation of soft tissue. Our research aims to construct a distributed VR environment for VR surgical simulator which supports manipulation of soft tissue destruction. Network delay included in distributed environment should be concealed for real-time interaction during destructive operation. And distributed VR simulation with physics-based model should adopt speculative preparation of stress matrix on next state for interactive destruction that provides success and failure of manipulation.
- Figure: Speculative preparation for matrix reconstruction
- Selected publications
- N. Kume, Y. Kuroda, M. Nakao, T. Kuroda, H. Yoshihara and M. Komori, "Speculative FEM Simulation System for Invasive Surgical Operation with Haptic Interaction", Asian Simulation Conference 2006, pp.372-376, 2006.
- N. Kume, Y. Kuroda, M. Nakao, T. Kuroda, H. Yoshihara and M. Komoro, "Design of Physics-based Distributed VR Simulation and Estimation of Computational Complexity", 50th proc. of ISCIE(Insutitute of Systems, Control and Information Engineers), 2006. (To appear)
- N. Kume, Y. Kuroda, M. Nakao, T. Kuroda, H. Yoshihara and M. Komori, "Design of Distributed VR Simulation System with Physics-based Haptic Interaction", VRSJ(Virtual Reality Society of Japan), pp.221-222, 2005.
VR Simulator Construction with Surgical Manuals †
- Concept -
Interaction between language processing and virtual reality.
Different aspect of language and reality will be seen.
- Contributors
- Kazuya Okamoto
- Kenta Hori (Gunma Prefectural College of Health Sciences)
Construction of medical VR simulator by language processing of surgical manuals †
VRASS project has provided simulation library for promoting development of medical VR simulator. On the other hand, construction of a simulator takes much time and efforts of medical doctors and engineers. This project reduces developing burdon by providing simulation modules.
- Image of construction of surgical simulators
- Selected publications
- T. Takemura, Y. Kuroda, N. Kume, K. Okamoto, K. Hori, M. Nakao, T. Kuroda and H. Yoshihara, "Requirement Extraction from Surgical Textbook using Natural Language Processing for Educational Virtual Reality Simulator", June 30-July 1, 2006. (To appear)
Awards, Grants †
- Awards
- Research Recommendation Award, 10th Conference of the Virtual Reality Society of Japan, 2005
- Recommendation Award, 5th Conference of Japanese Society for Medical Virtual Reality, 2005
- Journal Award, The Virtual Reality Society of Japan, 2004
- Best Session Presentation Award, 5th Conference of System Integration Department of the Japanese Society of Instrument and Control Engineers, 2004
- Outstanding Paper, International Conference on Artificial Reality and Telexistence (ICAT) 2003
- Research Recommendation Award, 17th Autumn Conference of the Japanese Society for Medical and Biological Engineering, 2003
- Research Recommendation Award, 8th Conference of the Virtual Reality Society of Japan, 2003
- Recommendation Award, 65th Conference of Information Processing Society of Japan, 2003
- Recommendation Award, 4th Symposium of Human Interface Society of Japan, 2002
- Best Technical Paper, 6th International Conference Virtual Systems of MultiMedia 2000
- Grants
- Grant-in-Aid for Young Scientists (A) (18680043) from The Ministry of Education, Culture, Sports, Science and Technology, Japan (2006-2007)
- Grant-in-Aid for Exploratory Research (18680043) from The Ministry of Education, Culture, Sports, Science and Technology, Japan (2006-2007)
- Grant-in-Aid for Scientific Research(S) (16100001) from The Ministry of Education, Culture, Sports, Science and Technology, Japan (2004-2008)
- Research Fund for Young Researchers, Nakajima Found, "Development of Educational System for Medical Skill based on Biomedical Engineering Simulation" (2006-2007)
- 38th Kurata Research Fundation, Kurata Fund, "Development of Educational Simulation System of Medical Palpation", Research Representative, 2006
- Grant-in-Aid for Young Scientists (A) (16680024) from The Ministry of Education, Culture, Sports, Science and Technology, Japan (2004-2005)
- Research Fund for Young Researchers, Nakajima Found, (2004-2005)
- Exploratory Software Project, IPA: Information-Technology Promotion Agency, "Development of Integrated Surgery Simulator", Research Representative, 2003
- Exploratory Software Project, IPA: Information-Technology Promotion Agency, "Development of a Real Time Physics-Based Simulation Library and Development of a Surgical Simulator", Research Representative, 2002
- Other 1 grant
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