Position based model of a flexible ureterorenoscope in a virtual reality training platform for a minimally invasive surgical robot

Peral Boiza, Maria and Gómez Fernández, Teresa and Sánchez González, Patricia and Rodríguez Vila, Borja and Gómez Aguilera, Enrique J. and Gutiérrez Martín, Álvaro (2019). Position based model of a flexible ureterorenoscope in a virtual reality training platform for a minimally invasive surgical robot. "IEEE Access", v. 7 ; pp. 177414-177426. ISSN 2169-3536. https://doi.org/10.1109/ACCESS.2019.2957857.

Description

Title: Position based model of a flexible ureterorenoscope in a virtual reality training platform for a minimally invasive surgical robot
Author/s:
  • Peral Boiza, Maria
  • Gómez Fernández, Teresa
  • Sánchez González, Patricia
  • Rodríguez Vila, Borja
  • Gómez Aguilera, Enrique J.
  • Gutiérrez Martín, Álvaro
Item Type: Article
Título de Revista/Publicación: IEEE Access
Date: 5 December 2019
ISSN: 2169-3536
Volume: 7
Subjects:
Freetext Keywords: Position based modelling; shape matching; flexible ureterorenoscopy; surgical simulation; training environment
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Tecnología Fotónica y Bioingeniería
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Although the total number of ureteroscopy interventions during the past years has significantly increased, current flexible ureteroscopy procedures still present some limitations to urologic surgeons. However, nowadays different robotic systems have been developed in order to reduce those limitations. Flexible ureteroscopy robots provide a technological alternative which combines the benefits that this type of procedures offers to the patients, and solutions to the problems encountered from the surgeons perspective. In this paper, a virtual reality training platform for robot-assisted flexible ureterorenoscopy interventions is presented. A position based model for the virtual flexible endoscope is detailed and a standard user interface for the training platform is designed. Moreover, a comparative analysis of the performance of the training platform in different scenarios, including the navigation through a three-dimensional ureterorenal model, is presented. The obtained results determine that the training platform presents different computational rates depending on the complexity of the implemented environment and on the number of collisions and constraints that have to be handled. Nevertheless, the virtual model is visually plausible, effective for real-time user interaction and suitable for training.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainRTC-2016-5338-1LITHOSUnspecifiedCirugía Robótica para el Tratamiento de Cálculos Renales

More information

Item ID: 63817
DC Identifier: http://oa.upm.es/63817/
OAI Identifier: oai:oa.upm.es:63817
DOI: 10.1109/ACCESS.2019.2957857
Official URL: https://ieeexplore.ieee.org/document/8924689
Deposited by: Memoria Investigacion
Deposited on: 29 Sep 2020 14:09
Last Modified: 29 Sep 2020 14:09
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