Dynamic Virtual Simulation with Real-Time Haptic Feedback for Robotic Internal Mammary Artery Harvesting

Area of Science:

• Robotics in Surgery
• Biomechanical Engineering
• Surgical Simulation

Background:

• Coronary heart disease is a leading cause of mortality globally.
• Robotic coronary artery bypass grafting (CABG) has advanced treatment, with the internal mammary artery (IMA) as a preferred graft.
• Robotic IMA harvesting presents challenges like lack of force feedback and proximity to the beating heart.

Purpose of the Study:

• To introduce a novel virtual simulation platform for robotic IMA harvesting.
• To integrate dynamic anatomical modeling and real-time haptic feedback.
• To enhance surgical skill acquisition for complex cardiac procedures.

Main Methods:

• Developed a virtual simulation platform with dynamic cardiac modeling and haptic feedback.
• Incorporated high-fidelity thoracic anatomy and biomechanical framework for soft tissue deformation.
• Utilized a topology-preserving cutting algorithm, bidirectional tissue coupling, and dual-channel haptic feedback for electrocautery simulation.

Main Results:

• The platform accurately simulates cardiac pulsation's impact on thoracic operations.
• Quantitative assessment using the Spatial Asymmetry Index (SAI) showed significant behavioral adaptations to cardiac motion.
• Dynamic scenarios yielded superior SAI values compared to static conditions, validating the simulation's accuracy.

Conclusions:

• The novel virtual simulation platform offers an anatomically accurate and interactive solution for robotic IMA harvesting.
• The system effectively enhances surgical skill acquisition in complex cardiac procedures.
• The platform's computational efficiency and realistic simulation capabilities are key advantages for surgical training.