Paper#09
MMVR19

Sukitti Punak and Sergei Kurenov, "A Simple Master-Slave Control Mapping Setup to Learn Robot-Assisted Surgery Manipulation" Proceedings of Medicine Meets Virtual Reality (MMVR) 19, February 9-11, 2012.

Abstract

A simple, but yet effective application for learning and testing instrument manipulation of available (and future) master-slave control robot-assisted surgical systems has been created. As an example, the paper describes a simple mapping of da Vinci surgical system master-slave control with two haptic devices acts as the master control.
Paper#08
ISVC11 Paper

Sukitti Punak, Sergei Kurenov and William Cance, "Virtual Interrupted Suturing Exercise with the Endo Stitch Suturing Device" 7th International Symposium on Visual Computing (ISVC11), Lecture Notes in Computer Science, Volume 6939, pp. 55-63, 2011.

Abstract

This paper presents the surgical suturing simulator for wound closure, which is designed for education and training purposes. Currently it is designed specifically to support a simulation of the AutosutureTM Endo StitchTM suturing, but could be extended for other surgical in- struments designed for intracorporeal suturing. The simulator allows a trainee to perform a virtual wound closure by interrupted suture with real surgical instrument handles customized to fit on haptic devices. The wound simulation is based on a triangular surface mesh embedded in a linear hexahedral finite element mesh, whereas the suture simulation is based on a simplified Cosserat theory of elastic rods. Our novel heuris- tic combination of physically-based and control-based simulations makes the simulator run efficiently in real time on mid-level desktop PCs and notebooks.
Paper#06and#07
MMVR18

Sukitti Punak and Sergei Kurenov, "A Simulation Framework for Wound Closure by Suture for the Endo Stitch uturing Instrument" Proceedings of Medicine Meets Virtual Reality (MMVR) 18, pp. 461-465, 2011.

Abstract

Our simulation framework for wound closure by suture is designed for education and training purposes. Currently, it is designed specifically to support a simulation of the Endo Stitch™ suturing instrument by Covidien, and could be extended for other surgical instruments designed for intracorporeal suturing. The framework allows the user to perform a virtual wound closure by suture with real surgical instrument handles customized to fit on haptic devices. The wound simulation is based on a triangular surface mesh embedded in a linear hexahedral finite element mesh, whereas the suture simulation is based on a simplified Cosserat theory of elastic rods. The simulation utilizes a combination of physically-based and control-based simulations.

Sukitti Punak and Sergei Kurenov, "Simplified Cosserat Rod for Interactive Suture Modeling" Proceedings of Medicine Meets Virtual Reality (MMVR) 18, pp. 466-472, 2011.

Abstract

This paper presents a real-time simulation of a virtual surgical suture, which is a physically-based model adapted from the Cosserat theory of elastic rods. The focus is on achieving a physically plausible simulation of the suture that can be simulated in real time. With simulation parameters adjustment, the virtual surgical suture can be accustomed to exhibit bending and twisting similar to a real suture. It is simple to implement and easy to extend for collision detections and interactions with other virtual objects. Its simulation is similar to a simulation of a composition of two mass-spring chains – for positions and orientations. Test results show that the virtual surgical suture can be used to tie knots in real time.
Paper#05
MMVR17

Sergei Kurenov, Sukitti Punak, Jörg Peters, Constance Lee, and Juan Cendan, "Development and Initial Validation of a Virtual Reality Haptically Augmented Surgical Knot-Tying Trainer for the Autosuture™ ENDOSTITCH™ Instrument" Proceedings of Medicine Meets Virtual Reality (MMVR) 17, pp. 145-147, 2009.

Abstract

The Autosuture Endostitch device (Covidien, CT) is difficult to learn. In particular, the handle requires the use of a toggle which is unique in this instrument. We have developed a virtual reality trainer for the device that offers the use of the actual instrument handle while creating a visible virtual instrument tip complete with virtual needle and suture on a monitor. This report represents the development and initial validation experiments for the device.
Paper#04
Full Text from IOS Press Books Online

Sukitti Punak, Minho Kim, Ashish Myles, Juan Cendan, Sergei Kurenov and Jörg Peters, "Fatty Tissue in a Haptic Illustration Environment" Proceedings of Medicine Meets Virtual Reality (MMVR) 16, pp. 384-386, 2008.

Abstract

Modeling soft tissue for surgery simulation is a challenging task due to the complex way that the tissue can deform and interact with virtual surgical tools manipulated by user. One soft tissue that is ubiquitous but often not modeled, is fatty tissue. Here we present a novel fatty tissue model based on the mass-spring system on the Graphics Processing Unit (GPU) as part of our Toolkit for Illustration of Procedures in Surgery (TIPS). The user can interact with the fatty tissue in real time via a handheld haptic stylus that represents a virtual surgical tool in TIPS environment. The currently available interactions are palpation, grasp, and cut.
Movie (wmv)
Paper#03

Full Text from Surgical Innovation

Sergei Kurenov, Sukitti Punak, Minho Kim, Jörg Peters and Juan Cendan "Simulation for Training with the Autosuture Endo Stitch Device" Surgical Innovation 13(4), pp. 1-5, 2006.

Abstract

The rapid development and deployment of novel laparoscopic instruments present the surgical educator and trainee with a significant challenge. Several useful instruments have been particularly difficult to teach the novice. We have developed a platform that allows the combination of the actual instrument handle with a virtual re-creation of the instrument tip. We chose the Autosuture Endo Stitch device as the prototypical instrument because it satisfies our subjective experience of ";useful, but hard to teach."; A software package was developed to support the re-creation of the needle and suture that accompany the device. The apparatus has haptic capabilities and collision detection so that the needle driver is ";aware"; of suture and instrument contact. The developed virtual environment allows re-creation of the necessary motion to simulate the instrument, the trainee can use the actual instrument handle, and the system can be altered to accommodate other instruments.

Demo Movie (wmv)
Paper#02
Full Text from The ACM Digital Library

Sukitti Punak and Jörg Peters, "Localized Volume Preservation for Simulation and Animation," Research Poster presented at SIGGRAPH 2006, abstract in Proceeding of SIGGRAPH 2006.

Abstract

Exact physical behavior of objects can enhance the realism of animations and reduce the animators work by suggesting a default behavior. As illustrated in the Figure above, preserving the volume under constraints can be an intriguing addition to the animator’s tool chest. Here we show how to keep some geometry of a deformable (two-manifold, water-tight) object fixed and have other parts of the object move without changing its volume.

 

Paper#01
Full Text from IOS Press Books Online

Minho Kim, Sukitti Punak, Juan Cendan, Sergei Kurenov and Jörg Peters, "Exploiting Graphics Hardware for Haptic Authoring" Proceedings of Medicine Meets Virtual Reality (MMVR) 14, pp. 255-260, 2006.

Abstract

Real-time, plausible visual and haptic feedback of deformable objects without shape artifacts is important in surgical simulation environments to avoid distracting the user. We propose to leverage highly parallel stream processing, available on the newest generation graphics cards, to increase the level of both visual and haptic fidelity. We implemented this as part of the University of Florida's haptic surgical authoring kit.

©2007 SPunak