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Optically tracked and 3D printed haptic phantom hand for surgical training system.

Johannes Maier¹, Maximilian Weiherer¹, Michaela Huber²

¹Regensburg Medical Image Computing (ReMIC), Ostbayerische Technische Hochschule Regensburg (OTH Regensburg), Regensburg, Germany.

Quantitative Imaging in Medicine and Surgery

|March 20, 2020

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This study developed a realistic 3D printed phantom hand for surgical training. The improved metamaterial and optical tracking enable accurate haptic feedback for practicing Kirschner-wire (K-wire) drilling.

Area of Science:

Biomedical Engineering
Surgical Simulation
3D Printing Technologies

Background:

Minimally invasive surgical fixation of hand fractures using Kirschner-wires (K-wires) necessitates extensive training for surgeons.
Current 3D printing materials lack the necessary softness to realistically mimic human soft tissue for surgical phantoms.
Realistic haptic feedback and accurate positioning are crucial for effective virtual reality (VR) surgical training systems.

Purpose of the Study:

To develop a haptically accurate and optically tracked 3D printed phantom hand for VR surgical training.
To improve the softness of 3D printed materials for enhanced realism in surgical simulation.
To integrate a robust optical tracking system for precise hand positioning in a training environment.

Main Methods:

Keywords:

Dual-material 3D printing hand surgery training metamaterial optical tracking support-material (SUP)tissue imitating phantom hand

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An improved metamaterial with a new unit cell was utilized to increase support material (SUP) content, enhancing tissue softness.
Human anatomy was incorporated into the hand model, including a simulated subcutaneous fat layer and air-filled pores for realistic skin layer movement.
A rotationally symmetrical marker and reference marker system were developed for reliable optical real-time tracking of the phantom hand's position and rotation.

Main Results:

A 30 cm long, haptically accurate phantom hand was successfully 3D printed in approximately 17 hours.
The enhanced metamaterial achieved a 4.32% increase in SUP share, significantly improving bone palpability.
Expert surgeon validation confirmed good palpability of bone structures and trouble-free optical tracking performance.

Conclusions:

A dual-material 3D printed phantom hand with accurate haptics and optical tracking capabilities was successfully developed.
This phantom hand is readily integrable into existing surgical training systems.
The developed phantom hand represents a significant advancement in realistic surgical simulation for hand fracture fixation training.