Medical Simulation MED

1
Medical Simulation (MED)

• Early Results of the Development of a 3D Haptic
  Femur Interface for Medical Training
• Charles J. Cohen, Ph.D.
• Douglas Haanpaa
• Gary Siebert
• Ron Hay

2
Outline

• Introduction
• Using Force Feedback
• Modeling and Simulation of Tissue Deformation
• Modeling and Simulation of Human Anatomy
• Virtual Reality Display
• Early Results

3
Main Project Objectives

• Produce an integrated examination/surgical
  simulation system.
• Use force feedback, modeled tissue properties,
  and virtual display.
• That is, we are making a system that replicates
  the interactions of a resident working on a live
  patient.

4
Cybernet Medical Overview

• Began developing medical devices in 1994
• Experts in telemedicine and device integration
• Formed Cybernet Medical in 2001 based on the
  MedStar telemedical product line developed for
  remote home care
• Prof. Robert J. Stone (VR Medical Consultant)
• Dr. Andrew Urquhart, University of Michigan
  (Surgical Consultant)

5
Cybernet Medical Product Evolution

• MedStar
• 1.        Patient Data Unit
• 2.        Pulse Oximeter
• 3.        Cardiac Event Monitor
• 4.        Pace Maker Monitor
• 5.        Respirometer
• 6.        Glucometer
• 7.        Blood pressure
• 8.        PT/INR
• 9.        Digital Thermometer
• 10.     Scale
• 11.     Digital stethoscope
• 12.     PDA-based Patient
• Activity Log
• 13.     Wound Care Camera
• 14.     Two-way video system

6
Distributed Software

• OpenSkies Scaled-up IEEE 1516 HLA Compliant
  Software for Commercial and Military Gaming,
  Messaging, Routing (patented)
• Includes Engines for 3D, Terrain, Sound, Chat,
  AI, Scenarios
• Licensed to Game Developers for Massive
  Multiplayer PC Games
• Easily Re-Configurable Band Width Management
  System
• Built-in Embedded Training Capability for (C3I)
  Systems
• Developed specifically for Networking
  Communication Systems
• Loadable Simulation Modules Dynamically Loaded
  Libraries (DLLs), based on open C code that
  describe object behavior
• Designed to easily wrap around Partner Software

7
System Components

8
Overall System

• Flat Panel display
• 3D LCD shutter glasses
• Cybernets Stylin 3D Force Feedback System

9
Using Force Feedback

• 6 Degrees of Freedom
• Application Programmer Interface (API)
• Haptic Device Server (HDS)
• Positive for Medical Simulation
• HDS can reside on one or more computers
• Can instantiate virtual Haptic objects

10
Modeling and Simulation of Tissue Deformation

• Requires
• Computational tissue model with numerical
  implementation
• Database of experimentally determined tissue
  material properties
• Stresses are force vectors
• Mü(KtangentKnonlinear)u
• FappliedFactiveFresidualFnonlinear

11
Modeling and Simulation of Human Anatomy

• Still exploring UM-VHP University of Michigan
  Visible Human Project
• Obtained anatomical models of skin and bone (3D
  SpecialTM)

12
Virtual Reality Display

• Start with OpenSkies Simulator
• Use OpenSkies Network Architecture for
  Communications (HLA based)
• 3D LCD Shutter Glasses with Flat Panel Display
• Display overlay that polarizes light orthogonally
  in an interleaved format. Render scene in two
  slightly different viewpoints.
• Record Playback Features

13
Objectives

• Develop a medical Haptic device tool kit
• Create 3D reconstructions of anatomical femur
  data
• Develop a library of femur bone and tissue
  physical characteristics
• Assemble an integrated system architecture a
  demonstration system
• Assess latency and fidelity

14
Early Results

• Found Subject Matter Expert at the University of
  Michigan
• Developing Metrics for Haptic Device and
  Simulation
• Reviewed and Selected Surgical Procedures for
  Simulation
• Cutting and Drilling
• Enhanced Haptic Force Feedback System
• Selected Display Components
• Integrated Network Architecture
• Building Demonstration System Now

15
Evaluation

• Range of Haptic Motion and Response for Medical
  Instruments
• What are the Possible Hybrid Devices
• Create Surgical Metrics for Evaluating System
• Data Communication for Realistic Simulation
• Accessibility