Journal of Computer Aided Surgery Vol.5 No.1

左室形成術のための心筋触診訓練システムの開発

Development of Cardiac Muscle Palpation Training System for LeftVentricular Plastic Surgery

徳安達士（学生会員）a＊，喜多村直（正会員）b，坂口元一C，米田正始C

a九州工業大学情報工学研究科情報システム専攻
b九州工業大学情報工学部機械システム工学科
C京都大学医学部心臓血管外科

Tatsushi Tokuyasu a，Tadashi Kitamur b，Gen'ichi Sakaguchi C，Masashi Komeda C

a Graduate course of Information Engineering，Kyushu Institute of Technology
b Department of Mechanical Systems Engineering，Kyushu Instituteof Technology
C Department of Cardiovascular Surgery，Graduate school of Medicine，Kyoto University

Abstratt
　For the left ventricular plastic surgery，cardiac muscle palpation is the only method of determining the regions that should be removed. Because the left ventricle would be operated after the chest incision with using a heart−lung machine，the opportunity to palpate the diseased cardiac muscle is limited in the operative theater.The training system for cardiac muscle palpationwe have developed is composed of a beating virtual heart and a 5−DOF haptic device，which is effective to overcome the present condition that the surgical training opportunities are poor.Experimental results of this study show that the justification of the virtual heart modeling comparing with a living dog heart and the real−time correlation between the virtual heart and the haptic device.The validation with a skillful surgeon is needed to make our system more practical.
Keywords
　　Cardiac surgery，Cardiac muscle palpation，Virtual heart and Force feedback.

有限要素法による肝臓手術ナビゲーションに関する研究

Study on Liver Surgery Navigation Based on Nonlinear Finite Element Method

陳献a＊，久田俊明a，佐久間一郎a，土肥健純b，島田光生C，橋爪誠C

a東京大学大学院新領域創成科学研究科
b東京大学大学院情報理工学系研究科
C九州大学大学院医学研究院

Xian Chen a，Tbshiaki Hisada a，Ichiro Sakuma a，Takeyoshi Dohi b，Mitsuo Shimada C，Makoto Hashizume C

a Graduate School of Frontier Sciences，The University of Tokyo
b Graduate School of Information Science and Technology，The University of Tokyo
C Graduate School of Medical Sciences，Kyushu University

Abstract
　　Surgical simulator systems have been developed for surgical training and planning．On the other hand，surgical navigation systems arise to play an important role in laparoscopic surgery．In these systems the deformation of organis required to be simulated realistically．Finite element method is a useful tool for this purpose due to its clear physical back−ground．In this work the simulation of liver defomation in liver surgery is carried out by introducing nonlinear finite element method．The materialconstants in the constitutive relation are identified by an experimental measurement，and then realistic deformations of liver are obtained by taking the geometrical and material nonlinearities into account.
Keywords: Surgery Navigation，Nonlinear Fimite Element Method，Large Deformation．