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Computing Reaction Forces on Surgical Tools for Robotic Neurosurgery and Surgical Simulation

The objective of our research is to create a system computing brain deformations. In this paper we concentrate on assessing the feasibility of using non-linear finite element computation for patient-specific simulations. As an example we use computation of reaction forces on surgical tools, with application in e.g. surgical robot control system, virtual reality operation planners, etc. We specifically address issues related to creating geometrically and mechanically precise representations of the brain. The method comprises of the following steps: 1) development of a “generic” brain mesh; 2) conversion of the generic brain mesh to patientspecific brain mesh; 3) selection of the appropriate mathematical model of the brain biomechanics; and 4) development of an efficient computational scheme. As an illustration of the presented concepts we provide an example of 3D meshing, and calculation of reaction force acting on a surgical tool using a single-phase mathematical model solved using an explicit, non-linear finite element procedure.