Virtual reality simulator of transurethral resection of the prostate

摘要

In this work we present the current state of development of a virtual reality surgery simulation system for training Transurethral Resection of the Prostate (TURP). The prototype consist on a virtual environment of part of the urinary system which includes 3D models of the bladder, the prostate and the pennile urethra. The system simulates in real-time the endoscopic view of the resectoscope, allows realistic virtual navigation and exploration inside the anatomic structures of the virtual patient. The simulator includes a deformable tissue model of the prostate in order to simulate tissue resection and deformation. The interaction between the trainee and the system is done with a mechatronic interface that emulates a real resectosope and allows to perform the most important movements of the surgical tool during a TURP. We are currently working in incorporating tactile feedback to the interface by adapting an haptic robot device to the mechanism.