Deformable model of the prostate for TURP surgery simulation
During a prostatectomy, a surgeon removes the inner prostate tissue that obstructs the urinary flow. The standard procedure, called transurethral resection of the prostate (TURP), is a minimally invasive surgery in which a resectoscope is introduced through the urethra of the patient to remove the obstructing tissue. In this paper, we present a three-dimensional (3D) computer model of the prostate for TURP simulation. The prostate model is designed to be the basis of a computer simulator for TURP training. The model was built from a set of ultrasound images with a technique that constructs a 3D volumetric mesh of the prostate shape, which is able to closely reproduce tissue resections as they are performed during real TURP procedures. A mass-spring method is used to model tissue deformation due to surgical tool interaction. The model simulates, in real-time: resections; tissue deformations; the cavity produced by the user as the surgical procedure progresses; and the corresponding reduction of the prostate volume.
surgery simulation prostatectomy surgery training systems deformable tissue models