A haptic simulator for brain fissure opening surgery with a brain model considering membrane, vessel and parenchyma

• Project/Area Number: 18K13720
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Hirosaki University
• Principal Investigator: Chen Xiaoshuai 弘前大学, 理工学研究科, 助教 (40812277)
• Project Period (FY): 2018-04-01 – 2022-03-31
• Project Status: Completed (Fiscal Year 2021)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2021: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000); Fiscal Year 2020: ¥260,000 (Direct Cost: ¥200,000、Indirect Cost: ¥60,000); Fiscal Year 2019: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000); Fiscal Year 2018: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
• Keywords: くも膜小柱・血管の損傷破壊数値計算モデル / 脳神経外科手術シミュレーション / 脳血管温存シミュレーション / 脳神経外科手術支援システム / 脳神経外科手術シミュレータ / 脳裂にある結合組織の損傷破壊数値計算モデル / 脳血管の損傷破壊数値計算モデル / 複合現実（MR）表示 / 脳実質の非線形数値計算モデル / 脳血管の非線形破壊数値計算モデル / 外科手術支援システム（AR表示） / 脳神経外科手術支援システム（AR表示） / 手術シミュレータ / 柔軟体変形 / 損傷破壊モデル / 有限要素法

Outline of Final Research Achievements

Brain fissure opening is one of the basic procedures in neurosurgery. In brain fissure opening, preserving the vessel when cutting the arachnoid mater and the brain parenchyma is a successful factor. In this study, we constructed a brain vessel preservation simulation using a model incorporating the cerebral membrane, arachnoid trabeculae, vessel, and brain parenchyma. To realize this simulation, we constructed a stable and high-speed damage fracture model of brain fissure connective tissue, arachnoid trabeculae, and brain vessels. In addition, the mechanical parameters related to the damage and fracture of the brain connective tissue and vessels were identified based on the experimental results. From the results of the simulations, it was confirmed that one of the criteria for preserving blood vessels is velocity of pulling the membrane. Moreover, the simulation results were presented by using mixed reality technology.

Academic Significance and Societal Importance of the Research Achievements

従来の研究の多くは血管や膜を省略しており，脳裂開放時の血管破断など手術時の課題が再現できていない．本研究では，脳膜・くも膜小柱・脳血管・脳実質を組み込んだモデルを用いて，安定かつ高速なくも膜小柱・脳血管の破断モデルを構築した．本手術シミュレータを利用することにより，過大な力による血管破断などの手術時に犯しやすいミスを術者が体験できる．また，脳神経外科手術の効率的な教育と手術技量の定量的評価による安全性の向上につながることが期待される．

Research Products

• [Journal Article] Numerical Calculation Method for Brain Shift Based on Hydrostatics and Dynamic FEM (2022)
  • Author(s): Chen Xiaoshuai、Shirai Ryosuke、Masamune Ken、Tamura Manabu、Muragaki Yoshihiro、Sase Kazuya、Tsujita Teppei、Konno Atsushi
  • Journal Title: IEEE Transactions on Medical Robotics and Bionics Volume: 4 Issue: 2 Pages: 368-380
  • DOI: 10.1109/tmrb.2022.3168075
  • Peer Reviewed / Open Access
• [Journal Article] Objective Evaluation of Laparoscopic Surgical Skills in Wet-lab Training Based on Motion Analysis and Machine Learning (2022)
  • Author(s): Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kou Miyaji, Sayaka Shibuya, Yan Limbo, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
  • Journal Title: Langenbeck's Archives of Surgery Volume: - Issue: 5 Pages: 2123-2132
  • DOI: 10.1007/s00423-022-02505-9
  • Peer Reviewed / Open Access
• [Journal Article] A Nonlinear and Failure Numerical Calculation Method for Vessel Preservation Simulations Based on Subarachnoid Space Structure Considerations (2020)
  • Author(s): Chen Xiaoshuai、Sase Kazuya、Tsujita Teppei、Konno Atsushi
  • Journal Title: IEEE Transactions on Medical Robotics and Bionics Volume: 2 Issue: 3 Pages: 356-363
  • DOI: 10.1109/tmrb.2020.3009521
  • Peer Reviewed
• [Journal Article] Development and Validation of a Measurement System for Laparoscopic Surgical Procedures (2020)
  • Author(s): Ebina Koki、Abe Takashige、Komizunai Shunsuke、Tsujita Teppei、Sase Kazuya、Chen Xiaoshuai、Higuchi Madoka、Furumido Jun、Iwahara Naoya、Kurashima Yo、Shinohara Nobuo、Konno Atsushi
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: 13 Issue: 4 Pages: 191-200
  • DOI: 10.9746/jcmsi.13.191
  • Peer Reviewed
• [Journal Article] Motion analysis for better understanding of psychomotor skills in laparoscopy: objective assessment-based simulation training using animal organs (2020)
  • Author(s): Ebina Koki、Abe Takashige、Higuchi Madoka、Furumido Jun、Iwahara Naoya、Kon Masafumi、Hotta Kiyohiko、Komizunai Shunsuke、Kurashima Yo、Kikuchi Hiroshi、Matsumoto Ryuji、Osawa Takahiro、Murai Sachiyo、Tsujita Teppei、Sase Kazuya、Chen Xiaoshuai、Konno Atsushi、Shinohara Nobuo
  • Journal Title: Surgical Endoscopy Volume: - Issue: 8 Pages: 4399-4416
  • DOI: 10.1007/s00464-020-07940-7
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] 柔軟物体の力覚提示に対応したゲームエンジンプラグインNamakoの開発 (2020)
  • Author(s): 佐瀬 一弥、陳 暁帥、辻田 哲平、近野 敦
  • Journal Title: 日本バーチャルリアリティ学会論文誌 Volume: 25 Pages: 366-373
  • NAID: 130007960936
  • Peer Reviewed
• [Presentation] 腹腔鏡下手術支援システムを目指した複合現実技術による柔軟組織の重畳表示 (2021)
  • Author(s): 小笠原 健太, 陳 暁帥, 佐瀬 一弥, 辻田 哲平, 近野 敦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
• [Presentation] 実空間と連動する腹腔鏡手術圧排操作シミュレータの開発と評価 (2021)
  • Author(s): 澁谷 紗也華, 佐瀬 一弥, 陳 暁帥, 小水内 俊介, 辻田 哲平, 近野 敦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
• [Presentation] 腹腔鏡手術支援システム開発のための肝臓3Dモデルプロジェクションマッピング (2021)
  • Author(s): 髙橋 優里, 近野 敦, 佐瀬 一弥, 辻田 哲平, 陳 暁帥
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
• [Presentation] Surgical Skill Analysis Based on the Way of Grasping Organs with Forceps in Dissection Procedure of Laparoscopic Surgery (2020)
  • Author(s): Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, and Atsushi Konno
  • Organizer: CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy2020)
  • Int'l Joint Research
• [Presentation] 手術ナビゲーションのための弾性体リアルタイム接触変形シミュレーションシステムの開発 (2020)
  • Author(s): 澁谷紗也華, 佐瀬一弥, 陳暁帥, 小水内俊介, 辻田哲平, 近野敦
  • Organizer: 日本バーチャルリアリティ学会ハプティクス研究委員会
• [Presentation] 鼻腔内視鏡手術手技計測システムの開発 (2020)
  • Author(s): 宮路洸, 鈴木正宣, 中丸裕爾, 佐瀬一弥, 陳暁帥, 辻田哲平, 小水内俊介, 本間明宏, 近野敦
  • Organizer: 計測自動制御学会北海道支部学術講演会
• [Presentation] 腹腔鏡手術剥離操作における鉗子把持力・把持位置の技量分析 (2020)
  • Author(s): 海老名光希, 安部崇重, 小水内俊介, 辻田哲平, 佐瀬一弥, 陳暁帥, 樋口まどか, 古御堂純, 岩原直也, 倉島庸, 篠原信雄, 近野敦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
• [Presentation] A Simple Deformation and Reaction Force Numerical Calculation Method for Nonlinear Brain Tissues (2019)
  • Author(s): Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
  • Organizer: Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII2020)
  • Int'l Joint Research
• [Presentation] Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure (2019)
  • Author(s): Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita, Atsushi Konno
  • Organizer: Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS2019)
  • Int'l Joint Research
• [Presentation] A Hepato-Biliary-Pancreatic Deformable Model for a Simulation-Based Laparoscopic Surgery Navigation (2019)
  • Author(s): Atsushi Konno, Noriyuki Shido, Kazuya Sase, Xiaoshuai Chen, Teppei Tsujita
  • Organizer: Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII2020)
  • Int'l Joint Research
• [Presentation] AR Brain-Shift Display for Computer-Assisted Neurosurgery (2019)
  • Author(s): Shirai Ryosuke, Chen Xiaoshuai, Sase Kazuya, Komizunai Shunsuke, Tsujita Teppei, Konno Atsushi
  • Organizer: IEEE Conference Proceedings 2019 (SICE2019)
  • Int'l Joint Research
• [Presentation] A Measurement System for Skill Evaluation of Laparoscopic Surgical Procedures (2019)
  • Author(s): Ebina Koki, Abe Takashige, Komizunai Shunsuke, Tsujita Teppei, Sase Kazuya, Chen Xiaoshuai, Higuchi Madoka, Furumido Jun, Iwahara Naoya, Kurashima Yo, Shinohara Nobuo, Konno Atsushi
  • Organizer: IEEE Conference Proceedings 2019 (SICE2019)
  • Int'l Joint Research
• [Presentation] 腹腔鏡手術技量評価のための手技計測システム開発 (2019)
  • Author(s): 海老名光希，安部崇重，小水内俊介，辻田哲平，佐瀬一弥，陳暁帥，樋口まどか，古御堂純，岩原直也，倉島庸，篠原信雄，近野敦
  • Organizer: 第20回計測自動制御学会システムインテグレーション部門講演会
• [Presentation] 剛性変動物体に対する安定な力覚インタラクションのためのオンラインメッシュ切り替え (2019)
  • Author(s): 佐瀬一弥，辻田哲平，陳暁帥，近野敦
  • Organizer: 第20回計測自動制御学会システムインテグレーション部門講演会
• [Presentation] Numerical Model of Connective Tissue for Splitting Brain Fissure Simulation (2018)
  • Author(s): Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, and Atsushi Konno
  • Organizer: Proceedings of the 2019 IEEE/SICE International Symposium on System Integration
  • Int'l Joint Research
• [Presentation] Presenting a Simple Method of Brain Shift Estimation for Neuronavigations and Considering its Practicality (2018)
  • Author(s): Xiaoshuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, and Atsushi Konno
  • Organizer: Proceedings of the 2019 IEEE/SICE International Symposium on System Integration
  • Int'l Joint Research
• [Presentation] Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-type Haptic Interface Using MR Fluid (2018)
  • Author(s): Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Masashige Tomita, Atsushi Konno, Masano Nakayama, Atsuhiro Nakagawa, Koyu Abe and Masaru Uchiyama
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Int'l Joint Research
• [Presentation] 脳神経外科手術支援ブレインシフトAR表示 (2018)
  • Author(s): 白井亮輔, 陳暁帥, 佐瀬一弥, 小水内俊介, 辻田哲平, 近野敦
  • Organizer: 計測自動制御学会システムインテグレーション部門講演会
• [Presentation] ARを用いた実時間ブレインシフト可視化 (2018)
  • Author(s): 白井亮輔, 陳暁帥, 佐瀬一弥, 辻田哲平, 近野敦
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会