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Surgical assistance systems are used to make surgical procedures more precise. The integration of automated intra-operative imaging in surgical interventions can be seen as an important step to further improve patient safety. An automatic soft tissue manipulation system with mechatronic assistance using endoscopic Doppler guidance was developed for minimally invasive coronary artery bypass surgery. To facilitate the complicated development process of the mechatronic system, we manufactured and validated an anthropomorphic phantom. A three-compartment model including soft tissue and a vessel system were manufactured for the phantom. Blood flow simulation was implemented using a pump and blood mimicking fluid in a closed circuit. Eighteen physicians evaluated the anatomical and physiological validity of the phantom in a study. The average rating of the anatomy, as well as the physiology, was good, although particular aspects of the phantom have shown a need for improvement. The validation study provided valuable information on limits and problems concerning the phantom and its applicability for the evaluation of the development steps of the mechatronic system. We showed how to develop and validate a phantom for the evaluation of a surgical assistance system with intraoperative imaging. The described concepts can be applied to similar developmental procedures and help generate a goal-driven and efficient development.

An anthropomorphic sonography phantom for the evaluation of mechatronic devices for heart surgery