A Da Vinci Virtual Reality Simulator With Continuum Tools for Robot-Assisted Open Spina Bifida Repair
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| Publicado en: | ProQuest Dissertations and Theses (2025) |
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ProQuest Dissertations & Theses
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| Acceso en línea: | Citation/Abstract Full Text - PDF |
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| Resumen: | Open Spina Bifida (OSB) is a congenital neural tube defect, and traditional open surgery poses significant risk to both mother and baby. The recent development of 2mm Da Vinci continuum tools provides a minimally invasive alternative, enabling robotic in-utero OSB repair through small uterine ports. However, the complex bending behavior of these continuum tools makes precise control challenging. Consequently, this work presents a high-fidelity Da Vinci OSB repair virtual reality simulator with continuum tools for surgeon training. The simulator integrates soft body physics for tissue deformation, a plugin for handling suture interactions, and haptic virtual fixtures to enhance spatial awareness. Evaluation experiments demonstrated virtual tool accuracy with end-effector trajectory errors of 2.07mm, 3.10mm, and 3.25mm for pure bending, figure-eight tracing, and helix tracing tasks, respectively. A user study with four expert surgeons supports the simulator’s feasibility, with positive feedback received on realism and training value. |
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| ISBN: | 9798265447203 |
| Fuente: | ProQuest Dissertations & Theses Global |