Real-time Interaction Force Modelling And Computing For Intracerebral Haemorrhage Preoperative Training Based On Rod-Particle Model

The onset of intracerebral haemorrhage is dangerous, and this condition changes very quickly. It is the primary cause of death and disability within the spectrum of senile diseases. Upon onset, the transfer time is very short, so patients need timely and effective remote treatments. At present, endoscopic craniotomy requires the collaboration of several surgeons and nurses, which leads to the problem of incomplete approaches. The existing surgical robots lack the ability to provide a 3D visualization of the surgical area and tactile sensation, resulting in inefficiency and secondary brain damage. To save patients in a timely and effective manner using-robot- assisted intracerebral haemorrhage preoperative training, there is an urgent need to study the interaction force modelling and calculation during the surgery to provide real-time visualization of the surgical process and to make up for the tactile loss during robotic surgery. In this paper, a rod-particle model is used to construct real-time interaction force modelling and computing between the endoport and the brain parenchyma. The particle swarm method is applied to optimize elastic coefficients according to experienced surgeons at Jinling Hospital. The interaction force is calculated and is fed back in realtime to the surgeons on the master side. Using left- and right-handed haptic robots and other equipment to build the visual intracerebral haemorrhage preoperative training experimental system, the real-time performance and accuracy of the proposed method are verified by experiments via the platform.