The complexity of minimally invasive robotic surgery operations is steadily increasing every year. At the same time also the number of these surgical operations is highly developing. Nowadays, there is a need to develop new methods to train surgeons and plan surgical operations in complete safety for the physician and the patient. The development of virtual environments that are similar to those encountered in the surgical room is a promising solution. One of the areas in which minimally invasive robotic surgery is progressing is cardiac surgery applied through the use of remote-controlled robotic catheters. These robotic catheters are mainly used for cardiac ablation operations to cure various typologies of arrhythmias. Among them, tachycardias, supraventricular arrhythmias and atrial flutter are the most important. The advantages of this cardiac ablation operation with robotic catheters have been obtained from the advancement of the robotic-assisted surgery sector as they are strictly connected. The main advantages of this technology are the presence of fewer complications such as surgical site infections mainly due to very long surgical procedures, the reduction of pain and blood loss, quicker recovery and smaller and less noticeable scars on the patient abdomen. In addition to the patient, robotic surgery also offers advantages for the surgeon. The most important benefits are the possibility to let the surgeon perform the operation without being exposed to the cumulative radiations of X-rays and the reduction of the physiological tremor of the surgeon’s hand. The aim of this thesis was to implement a virtual environment to simulate cardiac ablation operations. The virtual environment was created using software of 3D modeling called Blender and the simulation was implemented on the Asynchronous multi-body framework (AMBF) running on Ubuntu. Alongside this simulation, a Virtual Navigation navigation environment was created. Unity 3D was the graphics engine used to create this environment. This VR navigation was used to allow surgeons to visualize the anatomical morphology of the patient’s body during the pre-surgical procedure. This visualization has the characteristic of showing the surgeon the patient-specific organs and tissues in 3D, unlike traditional CT images.
La complessità delle operazioni di chirurgia robotica mininvasiva é in costante aumento ogni anno. Allo stesso tempo anche il numero di queste operazioni chirurgiche è in forte sviluppo. Allo stesso tempo, é necessario sviluppare nuovi metodi per formare i chirurghi e pianificare gli interventi chirurgici in completa sicurezza per il medico e per il paziente. Lo sviluppo di ambienti virtuali estremamente simili a quelli che si incontrano in sala operatoria è una soluzione promettente. Una delle aree in cui sta progredendo la chirurgia robotica mininvasiva é la cardiochirurgia applicata attraverso l’uso di cateteri robotici controllati a distanza. Questi cateteri robotici vengono utilizzati principalmente nelle operazioni di ablazione cardiaca per curare varie tipologie di aritmie. Tra queste aritmie le più importanti sono le tachicardie, le aritmie sopraventricolari e il flutter atriale. I vantaggi di questa operazione di ablazione cardiaca con catetere robotico sono dovuti al costante progresso nel settore della chirurgia robotica assistita I principali vantaggi di questa tecnologia sono la presenza di minori complicazioni come infezioni del sito chirurgico dovute principalmente a procedure chirurgiche molto lunghe, la riduzione del dolore e della perdita di sangue, un recupero più rapido del paziente e cicatrici più piccole e meno evidenti sull’addome del paziente. Oltre al paziente, la chirurgia robotica offre vantaggi anche al chirurgo. I vantaggi più importanti sono la possibilità di permettere al chirurgo di eseguire l’operazione senza essere esposto alle radiazioni cumulative dei raggi X e la riduzione del tremore fisiologico della mano del chirurgo. Lo scopo di questa tesi era quello di implementare un ambiente virtuale per simulare le operazioni di ablazione cardiaca. L’ambiente virtuale é stato realizzato utilizzando un software di modellazione 3D chiamato Blender e la simulazione é stata implementata sul framework per la sim ulazione dei multicorpi asincroni (AMBF) in esecuzione su Ubuntu. Assieme a questa simulazione, é stato creato un ambiente di navigazione VR. Unity 3D é stato il motore grafico utilizzato per creare questo ambiente. Questa navigazione VR é stata utilizzata per consentire ai chirurghi di visualizzare la morfologia dell’anatomia del paziente durante le procedure prechirurgiche. Questa visualizzazione ha la caratteristica di mostrare al chirurgo gli organi e i tessuti specifici del paziente in 3D a differenza delle tradizionali immagini TC.
Virtual training for robot-assisted image-guided catheter navigation for cardiac ablation
Siena, Enrico Karim
2020/2021
Abstract
The complexity of minimally invasive robotic surgery operations is steadily increasing every year. At the same time also the number of these surgical operations is highly developing. Nowadays, there is a need to develop new methods to train surgeons and plan surgical operations in complete safety for the physician and the patient. The development of virtual environments that are similar to those encountered in the surgical room is a promising solution. One of the areas in which minimally invasive robotic surgery is progressing is cardiac surgery applied through the use of remote-controlled robotic catheters. These robotic catheters are mainly used for cardiac ablation operations to cure various typologies of arrhythmias. Among them, tachycardias, supraventricular arrhythmias and atrial flutter are the most important. The advantages of this cardiac ablation operation with robotic catheters have been obtained from the advancement of the robotic-assisted surgery sector as they are strictly connected. The main advantages of this technology are the presence of fewer complications such as surgical site infections mainly due to very long surgical procedures, the reduction of pain and blood loss, quicker recovery and smaller and less noticeable scars on the patient abdomen. In addition to the patient, robotic surgery also offers advantages for the surgeon. The most important benefits are the possibility to let the surgeon perform the operation without being exposed to the cumulative radiations of X-rays and the reduction of the physiological tremor of the surgeon’s hand. The aim of this thesis was to implement a virtual environment to simulate cardiac ablation operations. The virtual environment was created using software of 3D modeling called Blender and the simulation was implemented on the Asynchronous multi-body framework (AMBF) running on Ubuntu. Alongside this simulation, a Virtual Navigation navigation environment was created. Unity 3D was the graphics engine used to create this environment. This VR navigation was used to allow surgeons to visualize the anatomical morphology of the patient’s body during the pre-surgical procedure. This visualization has the characteristic of showing the surgeon the patient-specific organs and tissues in 3D, unlike traditional CT images.| File | Dimensione | Formato | |
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Descrizione: Tesi magistrale di Enrico Karim Siena
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https://hdl.handle.net/10589/180117