A novel framework for visuo-haptic percutaneous therapy simulation based on patient-specific clinical trials

Percutaneous therapy is a common clinical operation in minimally invasive surgery. Yet, learning curve of this skillful manual operation is steep, which imposes negative impacts on its further advances. In this paper, we proposed a novel workflow to simulate percutaneous therapy through visuo-haptic rendering based on the clinical trials. Intraoperative puncture data, obtained by our 6DOF force recording system in the operating room, is fitted as the original force model for the haptic rendering. Patient-specific medical images were also segmented and reconstructed for the highly immersive virtual training scenario. Last but not least, medical professors and novices have also been invited to practice on our training scenario by employed the Global Rating Scale (GRS) questionnaire and parameter metrics recording to validate framework's performance. Posttest values in experts and novices' groups after training showed great progress with respect to pretest values in both GRS scores and objective evaluation.