A Da Vinci Virtual Reality Simulator With Continuum Tools for Robot-Assisted Open Spina Bifida Repair
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| Izdano u: | ProQuest Dissertations and Theses (2025) |
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ProQuest Dissertations & Theses
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| Online pristup: | Citation/Abstract Full Text - PDF |
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| 001 | 3276840358 | ||
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| 020 | |a 9798265447203 | ||
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| 045 | 2 | |b d20250101 |b d20251231 | |
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| 100 | 1 | |a Nimal, Nillan | |
| 245 | 1 | |a A Da Vinci Virtual Reality Simulator With Continuum Tools for Robot-Assisted Open Spina Bifida Repair | |
| 260 | |b ProQuest Dissertations & Theses |c 2025 | ||
| 513 | |a Dissertation/Thesis | ||
| 520 | 3 | |a 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. | |
| 653 | |a Engineering | ||
| 653 | |a Robotics | ||
| 653 | |a Computer science | ||
| 653 | |a Mechanical engineering | ||
| 773 | 0 | |t ProQuest Dissertations and Theses |g (2025) | |
| 786 | 0 | |d ProQuest |t ProQuest Dissertations & Theses Global | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3276840358/abstract/embedded/7BTGNMKEMPT1V9Z2?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3276840358/fulltextPDF/embedded/7BTGNMKEMPT1V9Z2?source=fedsrch |