2009 Summer Project Week SlicerHaptics
Continuum Robot Model for the Catheter.
Flexible surgical Instrument in Slicer.
User Interface with Slicer.
Key Investigators
- BWH: Jayender Jagadeesan, Nobuhiko Hata, Greg Michaud
Objective
We will incorporate a continuum robot model in Slicer to simulate flexible surgical instruments. In addition, we will also integrate a virtual catheter module with Slicer to aid in the navigation of the surgical tool to the target location.
Approach, Plan
A model based on continuum dynamics has been developed to describe a flexible surgical instrument (catheters, endoscopes etc.). The model accurately describes the bending of the tool in both possible directions and also allows for the extensibility of the catheter. We will integrate this model with Slicer. In addition, we will also develop a virtual catheter module to aid in the navigation of the tool to the target location by providing magnified views of the anatomy as seen from the tool tip.
