An Interactive Web-based Simulation Tool for Surgical Thread
Interactive web-based computer simulations are
needed by the medical community to replicate the experience of
surgical procedures as closely and realistically as possible without
the need to practice on corpses, animals and/or plastic models. In this
paper, we offer a review on current state of the research on
simulations of surgical threads, identify future needs and present our
proposed plans to meet them. Our goal is to create a physics-based
simulator, which will predict the behavior of surgical thread when
subjected to conditions commonly encountered during surgery. To
that end, we will i) develop three dimensional finite element models
based on the Cosserat theory of elasticity ii) test and feedback results
with the medical community and iii) develop a web-based user
interface to run/command our simulator and visualize the results. The
impacts of our research are that i) it will contribute to the
development of a new generation of training for medical school
students and ii) the simulator will be useful to expert surgeons in
developing new, better and less risky procedures.
[1] C. P. Bradley, A.J. Pullan and P.J. Hunter, "Geometric modeling of the
human torso using cubic hermite elements", Ann. Biomed. Eng., vol. 25,
no. 1, 1997, pp. 96-111
[2] Berkley, S. Weghorst, H. Gladstone, G. Raugi, D. Berg and M. Ganter,
"Banded matrix approach to finite element modeling for soft tissue
simulations", Virtual Reality, vol. 4, 1999, pp. 203-212
[3] M. Bro-Nielsen, "Fast finite elements for surgery simulation", Studies in
Health Technological Information, vol. 39, 1997, pp. 395-400
[4] D. Berg, G. Raugi, H. Gladstone J. Berkley, M. Ganter and G.
Turkiyyah, "Virtual reality simulators for dermatologic surgery
measuring their validity as a teaching tool", Proc. Medicine Meets
Virtual Reality, 2001.
[5] J. Lenoir, S. Cotin, C. Duriez and P. Neumann, " Interactive Physically-
Based Simulation of Catheter and Guidewire", Computer and Graphics,
vol. 30, pp. 417-423, June 2006.
[6] J. Lenoir, P. Meseure, L. Grisoni and C. Chaillou, "A suture model for
surgical simulation", International Symposium on Medical Simulations,
Massachusetts (USA), June 2004.
[7] http://www.nlm.nih.gov/
[8] S.L. Dawson, "A critical approach to medical simulation", Bull. Am.
College Surgery, vol. 87, no. 11, 2002, pp.12-18
[9] E. and F. Cosserat, Théorie des Corps Déformables, Paris, Librairie
Scientifique A. Hermann et Fils, 1909
[10] S. S. Antman, Nonlinear Problems in Elasticity, Springer-Verlag, 2, 3,
2005.
[11] M. B. Rubin, Cosserat Theories: Shells, Rods and Points: Solid
Mechanics and its Applications, vol. 79, Kluver, 2, 2000.
[12] M. Grégoire, E. Shomer, "Interactive simulation of one-dimensional
flexible parts", Proceeding of the 2006 ACM Symposium on Solid and
Physical Modeling, UK, 2006, pp. 95-103
[13] J.W. S. Hearle and A. E. Yegin, "The snarling of highly twisted
monofilaments", Journal of the Textile Institute, vol. 63, no. 9,1972, pp.
477-489
[14] T. Yabuta, "Submarine cable kink analysis", Bulletin of the Japanese
Society of Mechanical Engineers, vol. 27, no. 231, 1984, pp. 1821-1828
[15] R.S. Manning, J.H. Maddocks and J.D. Kahn,"A continuum rod model
of sequence-dependent DNA structure", J. Chemical Physics, vol. 105,
no.1, 1996, pp. 5626-5646
[16] Kirchhoff-Clebsh, Vorlesungen ueber Mathematische Physik, Mechanik.
Lecture 19. Leipzig: Teubner. 1877.
[17] S. Timoshenko and J.N. Goodier, Theory of Elasticity, 3rd edition,
McGraw Hill, 1970
[18] Euler-Bernouilli (1795)
[19] O. O-Reilly, "On constitutive relations for elastic rods", Int. J. Solids
Structures, vol.35, no.11, 2, 1996, pp. 5626-5646
[20] K. Hansen and O. Larsen, "Using region-of-interest based finite element
modeling for brain-surgery simulation", Lecture Notes in Computer
Science, vol. 1496, 1998, pp. 305
[21] J. H. Keyak, S.A. Rossi, K.A Johnes and H.B. Skinner (1998),
"Prediction of femoral fracture load using automated finite element
modeling", Journal of Biomechanics, vol. 31, no. 2, pp.125-133, 1998
[22] D. K. Pai, "STRANDS: Interactive simulation of thin solids using
Cosserat models", Eurographics 2002, vol. 21, no. 3, 2002.
[23] S. Goyal, N. C. Perkins, and C. L. Lee. Nonlinear Dynamics and Loop
Formation in Kirchhoff Rods with Implications to the Mechanics of
DNA and Cables. Journal of Computational Physics, 209(1) 2205, pp.
371-389
[24] J. Berkley, G. Turkiyyah, D. Berg, M. Ganter and S. Weghorst, "Realtime
finite element modeling for surgery simulation: an application to
virtual suturing", IEEE Transactions on Visualization and Computer
Graphics, vol. 10, no. 3, 2004, pp. 314-325
[25] W.B.R. Lickorish, An Introduction to Knot Theory, Springer-Verlag,
Berlin, 1997.
[26] L.H. Silverstein, Principles of dental suturing: the complete guide to
surgical closure, Montage media, Alexandria, VA.
[27] J. Phillips, A.M Ladd and L.E. Kavraki, "Simulated knots tying",
Proceeding of the IEEE International Conference on Robotics and
Automation, Washington DC, 11 May 2002, pp. 841-846
[28] J. Lenoir, P. Meseure, L. Grisoni and C. Chaillou, "Surgical thread
simulation", in Modelling and Simulation for Computer-aided Medicine
and Surgery (MS4CMS), Roquencourt (France), vol. 12, pp.102-107,
INRIA, Nov. 2002.
[29] F. Wang, E. Burdet, A. Dhanik, T. Poston, C.L. Teo, "Dynamics thread
for real time knot-tying", in Proceedings of the First Joint Conference
and Symposium on Haptic Interfaces for Virtual Environment and
Teleoperator Systems, 2005, pp. 507-508
[30] J. Brown, J.C. Latombe, K. Montgomery, " Real-time knots tying
simulation", The Visual Computer, vol. 20, 2004, pp. 165-179
[31] P.Y. Lai, Y.J. Sheng and H.K. Tsao, "Non-Equilibrium dynamics in
untying Knots", International Journal of Modern Physics B, vol. 17,
Issue 22-24, pp. 4242-4246, 2003.
[32] A.M. Ladd and L. E. Kavraki, "Using motion planning for knot
untangling, International of Robotic Research, vol. 23, pp.797-808,
2004
[33] H. Wakamatsu, E. Arai, S. Hirai, "Knotting, unknotting manipulation of
deformable linear objects", International Journal of Robotics Research,
vol. 25, pp. 371- 395, 2006.
[34] A. Loock and E. Schomer, "A virtual environment for interactive
assembly simulation: From rigid bodies to deformable cables" in 5th
World Multiconference on Systemics, Cybernetics and Informatics
(SCI-01), vol. 3, pp. 325-332, 2001.
[35] S. Goyal, N.C. Perkins, and C. L. Lee. Non-linear dynamic intertwining
of rods with self-contact. International Journal of Non-Linear
Mechanics, 43(1):65-73, 2008.
[36] E. Hergenroether and P. Daene, "Real-time virtual cables based on
kinematic simulation", The 8th International Conference in Central
Europe on Computer graphics on Visualization and Interactive Digital
Media, 2000.
[37] V. G. A. Goss, G. H. M. van der Heijden, J.M. T. Thompson and S.
Neukirch, "Experiments on snap buckling, hysteresis and loop formation
in twisted rods", Experimental Mechanics, vol. 45, no.2, pp. 101-111,
2005
[38] R.S. Lakes, "Experimental methods for study of Cosserat elastic solids
and other generalized continua", Continuum models for materials with
micro-structure, ed. H. M├╝hlhaus, J. Wiley, N. Y. Ch. 1, p. 1-22, 1995
[39] O. Nocent and Y. Remion, "Continuous deformation energy for dynamic
material splines subject to finite displacements", Eurographics
CAS-20001, 2001.
[1] C. P. Bradley, A.J. Pullan and P.J. Hunter, "Geometric modeling of the
human torso using cubic hermite elements", Ann. Biomed. Eng., vol. 25,
no. 1, 1997, pp. 96-111
[2] Berkley, S. Weghorst, H. Gladstone, G. Raugi, D. Berg and M. Ganter,
"Banded matrix approach to finite element modeling for soft tissue
simulations", Virtual Reality, vol. 4, 1999, pp. 203-212
[3] M. Bro-Nielsen, "Fast finite elements for surgery simulation", Studies in
Health Technological Information, vol. 39, 1997, pp. 395-400
[4] D. Berg, G. Raugi, H. Gladstone J. Berkley, M. Ganter and G.
Turkiyyah, "Virtual reality simulators for dermatologic surgery
measuring their validity as a teaching tool", Proc. Medicine Meets
Virtual Reality, 2001.
[5] J. Lenoir, S. Cotin, C. Duriez and P. Neumann, " Interactive Physically-
Based Simulation of Catheter and Guidewire", Computer and Graphics,
vol. 30, pp. 417-423, June 2006.
[6] J. Lenoir, P. Meseure, L. Grisoni and C. Chaillou, "A suture model for
surgical simulation", International Symposium on Medical Simulations,
Massachusetts (USA), June 2004.
[7] http://www.nlm.nih.gov/
[8] S.L. Dawson, "A critical approach to medical simulation", Bull. Am.
College Surgery, vol. 87, no. 11, 2002, pp.12-18
[9] E. and F. Cosserat, Théorie des Corps Déformables, Paris, Librairie
Scientifique A. Hermann et Fils, 1909
[10] S. S. Antman, Nonlinear Problems in Elasticity, Springer-Verlag, 2, 3,
2005.
[11] M. B. Rubin, Cosserat Theories: Shells, Rods and Points: Solid
Mechanics and its Applications, vol. 79, Kluver, 2, 2000.
[12] M. Grégoire, E. Shomer, "Interactive simulation of one-dimensional
flexible parts", Proceeding of the 2006 ACM Symposium on Solid and
Physical Modeling, UK, 2006, pp. 95-103
[13] J.W. S. Hearle and A. E. Yegin, "The snarling of highly twisted
monofilaments", Journal of the Textile Institute, vol. 63, no. 9,1972, pp.
477-489
[14] T. Yabuta, "Submarine cable kink analysis", Bulletin of the Japanese
Society of Mechanical Engineers, vol. 27, no. 231, 1984, pp. 1821-1828
[15] R.S. Manning, J.H. Maddocks and J.D. Kahn,"A continuum rod model
of sequence-dependent DNA structure", J. Chemical Physics, vol. 105,
no.1, 1996, pp. 5626-5646
[16] Kirchhoff-Clebsh, Vorlesungen ueber Mathematische Physik, Mechanik.
Lecture 19. Leipzig: Teubner. 1877.
[17] S. Timoshenko and J.N. Goodier, Theory of Elasticity, 3rd edition,
McGraw Hill, 1970
[18] Euler-Bernouilli (1795)
[19] O. O-Reilly, "On constitutive relations for elastic rods", Int. J. Solids
Structures, vol.35, no.11, 2, 1996, pp. 5626-5646
[20] K. Hansen and O. Larsen, "Using region-of-interest based finite element
modeling for brain-surgery simulation", Lecture Notes in Computer
Science, vol. 1496, 1998, pp. 305
[21] J. H. Keyak, S.A. Rossi, K.A Johnes and H.B. Skinner (1998),
"Prediction of femoral fracture load using automated finite element
modeling", Journal of Biomechanics, vol. 31, no. 2, pp.125-133, 1998
[22] D. K. Pai, "STRANDS: Interactive simulation of thin solids using
Cosserat models", Eurographics 2002, vol. 21, no. 3, 2002.
[23] S. Goyal, N. C. Perkins, and C. L. Lee. Nonlinear Dynamics and Loop
Formation in Kirchhoff Rods with Implications to the Mechanics of
DNA and Cables. Journal of Computational Physics, 209(1) 2205, pp.
371-389
[24] J. Berkley, G. Turkiyyah, D. Berg, M. Ganter and S. Weghorst, "Realtime
finite element modeling for surgery simulation: an application to
virtual suturing", IEEE Transactions on Visualization and Computer
Graphics, vol. 10, no. 3, 2004, pp. 314-325
[25] W.B.R. Lickorish, An Introduction to Knot Theory, Springer-Verlag,
Berlin, 1997.
[26] L.H. Silverstein, Principles of dental suturing: the complete guide to
surgical closure, Montage media, Alexandria, VA.
[27] J. Phillips, A.M Ladd and L.E. Kavraki, "Simulated knots tying",
Proceeding of the IEEE International Conference on Robotics and
Automation, Washington DC, 11 May 2002, pp. 841-846
[28] J. Lenoir, P. Meseure, L. Grisoni and C. Chaillou, "Surgical thread
simulation", in Modelling and Simulation for Computer-aided Medicine
and Surgery (MS4CMS), Roquencourt (France), vol. 12, pp.102-107,
INRIA, Nov. 2002.
[29] F. Wang, E. Burdet, A. Dhanik, T. Poston, C.L. Teo, "Dynamics thread
for real time knot-tying", in Proceedings of the First Joint Conference
and Symposium on Haptic Interfaces for Virtual Environment and
Teleoperator Systems, 2005, pp. 507-508
[30] J. Brown, J.C. Latombe, K. Montgomery, " Real-time knots tying
simulation", The Visual Computer, vol. 20, 2004, pp. 165-179
[31] P.Y. Lai, Y.J. Sheng and H.K. Tsao, "Non-Equilibrium dynamics in
untying Knots", International Journal of Modern Physics B, vol. 17,
Issue 22-24, pp. 4242-4246, 2003.
[32] A.M. Ladd and L. E. Kavraki, "Using motion planning for knot
untangling, International of Robotic Research, vol. 23, pp.797-808,
2004
[33] H. Wakamatsu, E. Arai, S. Hirai, "Knotting, unknotting manipulation of
deformable linear objects", International Journal of Robotics Research,
vol. 25, pp. 371- 395, 2006.
[34] A. Loock and E. Schomer, "A virtual environment for interactive
assembly simulation: From rigid bodies to deformable cables" in 5th
World Multiconference on Systemics, Cybernetics and Informatics
(SCI-01), vol. 3, pp. 325-332, 2001.
[35] S. Goyal, N.C. Perkins, and C. L. Lee. Non-linear dynamic intertwining
of rods with self-contact. International Journal of Non-Linear
Mechanics, 43(1):65-73, 2008.
[36] E. Hergenroether and P. Daene, "Real-time virtual cables based on
kinematic simulation", The 8th International Conference in Central
Europe on Computer graphics on Visualization and Interactive Digital
Media, 2000.
[37] V. G. A. Goss, G. H. M. van der Heijden, J.M. T. Thompson and S.
Neukirch, "Experiments on snap buckling, hysteresis and loop formation
in twisted rods", Experimental Mechanics, vol. 45, no.2, pp. 101-111,
2005
[38] R.S. Lakes, "Experimental methods for study of Cosserat elastic solids
and other generalized continua", Continuum models for materials with
micro-structure, ed. H. M├╝hlhaus, J. Wiley, N. Y. Ch. 1, p. 1-22, 1995
[39] O. Nocent and Y. Remion, "Continuous deformation energy for dynamic
material splines subject to finite displacements", Eurographics
CAS-20001, 2001.
@article{"International Journal of Medical, Medicine and Health Sciences:60184", author = "A. Ruimi and S. Goyal and B. M. Nour", title = "An Interactive Web-based Simulation Tool for Surgical Thread", abstract = "Interactive web-based computer simulations are
needed by the medical community to replicate the experience of
surgical procedures as closely and realistically as possible without
the need to practice on corpses, animals and/or plastic models. In this
paper, we offer a review on current state of the research on
simulations of surgical threads, identify future needs and present our
proposed plans to meet them. Our goal is to create a physics-based
simulator, which will predict the behavior of surgical thread when
subjected to conditions commonly encountered during surgery. To
that end, we will i) develop three dimensional finite element models
based on the Cosserat theory of elasticity ii) test and feedback results
with the medical community and iii) develop a web-based user
interface to run/command our simulator and visualize the results. The
impacts of our research are that i) it will contribute to the
development of a new generation of training for medical school
students and ii) the simulator will be useful to expert surgeons in
developing new, better and less risky procedures.", keywords = "Cosserat rod-theory, FEM simulations, Modeling,Surgical thread.", volume = "5", number = "9", pages = "443-4", }
