Phenomenological tissue fracture modeling for an endoscopic sinus and skull base surgery training system based on experimental data

Conference: Robotics and Mechatronics (ICROM). Published online: February 2019. DOI: 10.1109/ICRoM.2016.7886822

Soroush Sadeghnejad, Farzam Farahmand, G.R. Vossoughi, Hamed Moradi, Seyed Mousa Sadr Hosseini.

During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS procedures. In this article, ex-vivo indentation and relaxation experiments associated with an offline model estimation of the interaction between tissues and a surgical tool are presented. The estimated parameters of the modified Kelvin-Voigt model are then used to provide a realistic tool-tissue interaction dynamic model. Finally, the principle of a virtual reality simulation scheme that would allow better haptic discrimination of tool-tissue interaction is proposed and illustrated.