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Tissue and force modelling on multi-layered needle puncture for percutaneous surgery training

Percutaneous surgery is a typical minimally invasive surgery. Featuring minimization in trauma and infection rate as well as rapid recovery time to patients, percutaneous therapy has replaced various traditional open surgery approaches and has become an essential approach for a series of clinic operations over the past decades. However, the practice and training for such a vocational manual skill is both difficult and expensive, which imposes negative impacts on its further advances. In this paper, we conducted an immersive needle insertion simulator for percutaneous surgery through visuo-haptic rendering. Multi-layered deformable tissue model with human anatomic textures are simulated and rendered. Mass-spring based force model and algorithm are also employed for realistic trocar needle insertion. Last but not least, a highly immersive virtual training scenario, integrated with a desktop haptic device is implemented to facilitate perceptive and hands-on experiences. Medical professional and trainees have also been invited to practice on the training scenario and provide subjective opinions in refining our implementation.