Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review

Area of Science:

• Biomedical Engineering
• Surgical Simulation Technology
• Computational Mechanics

Background:

• High-fidelity surgical simulators are crucial for training and planning robot-assisted surgery.
• Accurate modeling of tool-tissue interactions is a key requirement for realistic simulation.
• Existing models face challenges in real-time simulation, data acquisition, and accounting for complex tissue behaviors.

Purpose of the Study:

• To review and classify existing research on tool-tissue interaction modeling for surgical simulators.
• To identify limitations and challenges in current modeling techniques.
• To inform and motivate future research for improved surgical simulation.

Main Methods:

• Classification of tool-tissue interaction models based on employed techniques (linear elasticity, nonlinear elasticity finite element methods, non-FE methods).
• Categorization based on the type of surgical operation simulated.
• Literature review of existing research in the field.

Main Results:

• Tool-tissue interaction models are broadly categorized into elasticity-based finite element (FE) methods and other techniques.
• Realistic simulation requires in vivo tissue data and real-time computation, which are challenging.
• Accounting for connective tissue, friction, and topological changes remains difficult.

Conclusions:

• Overcoming current obstacles will enable real-time modeling and realistic force feedback in surgical simulators.
• Further research is needed to improve the fidelity of tool-tissue interaction models.
• This review provides a framework for understanding and advancing surgical simulation technology.