1. Virtual Reality Simulators for Minimal Invasive Surgery TrainingC U I
SMART Lab
Virtual Reality Simulators for Minimal Invasive Surgery Training
Shamyl Bin Mansoor,
SMART Lab, SEECS, NUST, Islamabad
School of Electrical Engineering & Computer Science,
National University of Sciences & Technology, Pakistan

2. About the Team School of Electrical Engineering & Computer Science
Dr Osman Hasan, Project Director
Dr Muddassir Malik Co-PI,
Dr Arshad Ali, DG, SEECS, NUST
Shamyl Bin Mansoor, Co-PI
Researchers
Zaheer Mukhtar (Software Engineer)
Taimur Hassan (Mechanical Engineer)
Farrukh Hijaz (Electrical Engineer)
Holy Family Hospital, Rawalpindi
Dr Asif Zafar, Professor of Surgery, Head Surgical Unit -2,
Dr Qasim Ali, Senior Registrar (Surgeon)
Dr Faisal Murad, Senior Registrar (Surgeon) C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

3. Outline Motivation Our Project Challenges Developing the System
Our Approach
About the Lab C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

4. Motivation Minimal Invasive Surgery is currently in vogue
Operations once performed “open” are now done almost exclusively using laparoscopes
The latest trend is to perform robots assisted surgery
All these new skills require special training
Hand Eye Coordination
Navigation of Camera and Laparoscopic instruments in a confined space C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

5. * Images courtesy of Dr Asif Zafar (Holy Family Hospital, Rawalpindi)
Background
Conventional Open Surgery Vs Minimal Invasive Surgery
MIS
Conventional Surgery C U I
SMART Lab
* Images courtesy of Dr Asif Zafar (Holy Family Hospital, Rawalpindi)

6. Background Robots Assisted Minimal Invasive Surgery
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

7. State of the Art ProMIS by Haptica, Ireland
LapSIM By Surgical Science, Sweden C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

8. Our Project Objectives Major Components Value Addition
Developing a cost effective training system for Minimal Invasive Surgery
Major Components
Virtual Reality Simulator for Minimal Invasive Surgery
Training Robot for Robot assisted Minimal Invasive Surgery
Value Addition
Simulating Real Surgery Scenes recorded at Holy Family Hospital
Using open source tools making it cost effective
Haptic Intercface with the Simulator
Developing basic and advanced exercises (Fundamentals of Laparoscopic Surgery (FLS) curriculum) C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

9. The Concept C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

10. Challenges The first challenge is to model the human anatomy
Making 3D models that exactly look like the original ones
The second challenge is to simulate this 3D model to act like the real thing
For example a 3D model of heart can only be called a heart model if it acts like a human heart too, beating and pumping blood
Simulating Tissue behavior
The third challenge is to simulate the environment within the human body
What happens if an external object pokes a tissue?
In real-life the tissue or that part of the body would start to bleed internally
How can that be simulated C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

11. System Components Dataset Mechanical Object
Tissue Modeling and Characterization
Illumination Mechanism
Collision Detection
Teaching Resources
Assessment through metrics and feedback
Performance Monitoring C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

12. Teaching Resources and Assessment
Implementing Laparoscopic Training Manual and specific scenarios
Cues, Feedback and comparisons
Assessment through metrics and qualitative feedback
Errors
Movement
Time
Forces C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

13. Four Modules Simulation Engine Basic Training Module
Based on Simulation Open Framework Architecture
Modeling and Simulation
Basic Training Module
Fundamentals of Laparoscopic Surgery Curriculum for Surgeon Training
Advanced Training Module
Simulation of complex laparoscopic procedures
Videos provided by Holy Family Hospital of different scenarios of laparoscopic surgery
Evaluation Module
Evaluation of surgeons on the basis of simulator training C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

14. Our Approach
We are utilizing open source framework for developing our system
Using SOFA (Simulation Open Framework Architecture) as the core of our system
Creating simulations of real scenarios from Holy Family’s database of over 100 videos
Formal Verification of the system C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

15. Formal Verification A Safety Critical Application
A minor glitch in the analysis phase could result in disastrous consequences
Potential Analysis Aspects
Evaluating Behavioral Correctness of Telesurgical Robotic Systems
Formal Reliability Analysis of Telesurgical Robotic Systems
Formal Verification and Performance Analysis of Telesurgical Network Protocols C U I
SMART Lab

16. Current Progress Developed basic exercises of FLS Curriculum
Integrated a conventional joystick for camera navigation C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

17. Demo Video C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

18. Demo Video 2 C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

19. Research Areas at SMART lab
We are also interested in a number of other areas which include
Android based Disaster Management Systems
Telemedicine Systems using mobile telephony
Intelligent Robotics
Brain Machine Interface
Visualization Techniques
More Information Available at C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST

20. Contact Us! smartlab@seecs.edu.pk shamyl.mansoor@seecs.edu.pk
Thank You
Contact Us! C U I
SMART Lab
Smart Machines And Robotics Technology Lab, School of Electrical Engineering & Computer Science, NUST