A haptic guidance system for Computer-Assisted Surgical Training using virtual fixtures

2016 ◽  
Author(s):  
Minsik Hong ◽  
Jerzy W. Rozenblit
Keyword(s):  
Surgical Training ◽  
Guidance System ◽  
Computer Assisted ◽  
Haptic Guidance ◽  
Virtual Fixtures

Assessment of Environmental Effects on Collaborative Haptic Guidance

2011 ◽  
Vol 20 (3) ◽  
pp. 191-206 ◽  
Author(s):  
Behzad Khademian ◽  
Jacob Apkarian ◽  
Keyvan Hashtrudi-Zaad
Keyword(s):  
Completion Time ◽  
Energy Exchange ◽  
Tracking Error ◽  
Guidance System ◽  
Tracking Performance ◽  
Task Completion ◽  
Haptic Guidance ◽  
Task Completion Time ◽  
Virtual Fixtures ◽  
Forbidden Region

This paper investigates the effect of environmental factors on user performance in a dual-user haptic guidance system. The system under study allows for interaction between both users, the trainee and the trainer, to collaboratively perform a common task in a shared virtual environment. User studies are carried out to experimentally evaluate the users' performance while following square and circular trajectories with two viewpoints of the environment (top view and front view), while the virtual manipulator tool moves in free motion or against forbidden-region virtual fixtures. The performance is measured and statistically evaluated against task completion time, tracking accuracy, and user energy exchange. The studies revealed that changing the environment geometry from a square to a circle results in reduced task completion time and tracking error. Changing the environment viewpoint from top to front decreases the task completion time in both geometries. Forbidden-region virtual fixtures increase energy exchange by both users and decrease task completion time while compromising the tracking performance in the square-following task. However, when visual feedback is removed in the presence of the fixtures, the square tracking performance improves. The results also indicate a strong relationship between user dominance and tracking error only when the experiment is time-limited.

Ablation of atrial tachyarrhythmias late after surgical repair of tetralogy of Fallot

2010 ◽  
Vol 21 (1) ◽  
pp. 31-38 ◽  
Author(s):  
Dan Raine ◽  
John O’Sullivan ◽  
Milind Chaudhari ◽  
Leslie Hamilton ◽  
Asif Hasan ◽  
...  
Keyword(s):  
Catheter Ablation ◽  
Tetralogy Of Fallot ◽  
Surgical Repair ◽  
Pulmonary Regurgitation ◽  
Clinical Problem ◽  
Guidance System ◽  
Computer Assisted ◽  
Atrial Tachyarrhythmias ◽  
Jude Medical ◽  
Repaired Tetralogy Of Fallot

AbstractBackgroundPatients with repaired tetralogy of Fallot may develop symptomatic and haemodynamic deterioration for many reasons such as arrhythmia, pulmonary regurgitation, and impairment in ventricular function. We describe a consecutive group of patients whose main clinical problem was atrial tachyarrhythmias.AimsTo describe the clinical outcome of atrial tachyarrhythmias occurring late after surgical repair of tetralogy of Fallot; to define the circuits/foci responsible for these atrial tachyarrhythmias; to evaluate the outcome of computer-assisted mapping and catheter ablation in this patient group.Methods and resultsConsecutive patients with surgically repaired tetralogy of Fallot and atrial tachyarrhythmias, who underwent catheter ablation between January, 2001 and June, 2007, were identified retrospectively from case records. Computer-assisted mapping was performed in all using either EnSite® (St Jude Medical Inc.) arrhythmia mapping and intra-cardiac catheter guidance system or CARTO™ (Biosense Webster Inc.) electroanatomical mapping systems. Ten patients (four males) with a median age of 39 plus or minus 8 years were studied. The total number of atrial tachyarrhythmias identified was 22 (six macro-reentrant, 16 micro-reentrant/focal). In nine patients, catheter ablation led to improvement in arrhythmia episodes and/or symptoms during follow-up of 41 plus or minus 20 months. Following ablation(s), five patients required pacing for pre-existing conduction disease and five needed further surgery for haemodynamic indications. All patients remained on anti-arrhythmic drugs.ConclusionsPatients with surgically repaired tetralogy of Fallot and atrial tachyarrhythmias typically have multiple arrhythmic circuits/foci arising from a scarred right atrium. Catheter ablation reduces arrhythmia frequency and improves symptoms. However, hybrid management is often required, comprising drugs, pacing, and further surgery tailored to the individual.

scholarly journals Evaluation of haptic guidance virtual fixtures and 3D visualization methods in telemanipulation—a user study

2019 ◽  
Vol 12 (4) ◽  
pp. 289-301 ◽  
Author(s):  
Kevin Huang ◽  
Digesh Chitrakar ◽  
Fredrik Rydén ◽  
Howard Jay Chizeck
Keyword(s):  
User Study ◽  
3D Visualization ◽  
Haptic Guidance ◽  
Virtual Fixtures

Improving accuracy and reducing radiation exposure in minimally invasive lumbar interbody fusion

2010 ◽  
Vol 12 (5) ◽  
pp. 533-539 ◽  
Author(s):  
Martin James Wood ◽  
Richard John Mannion
Keyword(s):  
Minimally Invasive ◽  
Radiation Exposure ◽  
Interbody Fusion ◽  
Case Series ◽  
Guidance System ◽  
Screw Placement ◽  
Invasive Technique ◽  
Computer Assisted ◽  
Lumbar Interbody Fusion ◽  
Screw Misplacement

Object The authors assessed the accuracy of placement of lumbar transpedicular screws by using a computer-assisted, imaged-guided, minimally invasive technique with continuous electromyography (EMG) monitoring. Methods This was a consecutive case series with prospective assessment of procedural accuracy. Forty-seven consecutive patients underwent minimally invasive lumbar interbody fusion and placement of pedicle screws (PSs). A computer-assisted image guidance system involving CT-based images was used to guide screw placement, while EMG continuously monitored the lumbar nerve roots at the operated levels with a 5-mA stimulus applied through the pedicle access needle. All patients underwent CT scanning to determine accuracy of PS placement. All episodes of adjusted screw trajectory based on positive EMG responses were recorded. Pedicle screw misplacement was defined as breach of the pedicle cortex by the screw of more than 2 mm. Results Two hundred twelve PSs were inserted in 47 patients. The screw misplacement rate was 4.7%. One patient experienced new postoperative radiculopathy resulting from a sacral screw that was too long, with lumbosacral trunk impingement. The trajectory of the pedicle access needle was altered intraoperatively on 20 occasions (9.4% of the PSs) based on positive EMG responses, suggesting that nerve root impingement may have resulted from these screws had the EMG monitoring not been used. Conclusions The combination of computer-assisted navigation combined with continuous EMG monitoring during pedicle cannulation results in a low rate of PS misplacement, with avoidance of screw positions that might cause neural injury. Furthermore, this technique allows reduction of the radiation exposure for the surgical team without compromising the accuracy of screw placement.

Radiation-free distal locking of intramedullary nails: Evaluation of a new electromagnetic computer-assisted guidance system

Injury ◽  
2013 ◽  
Vol 44 (6) ◽  
pp. 872-875 ◽  
Author(s):  
Ioannis Stathopoulos ◽  
Panagiotis Karampinas ◽  
Dimitrios-Stergios Evangelopoulos ◽  
Kalliopi Lampropoulou-Adamidou ◽  
John Vlamis
Keyword(s):  
Guidance System ◽  
Computer Assisted ◽  
Intramedullary Nails ◽  
Distal Locking

scholarly journals An Interactive Haptic Guidance System for Intuitive Programming CNC Machine Tool

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3860
Author(s):  
Kamil Stateczny ◽  
Karol Miądlicki
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Experimental Validation ◽  
Guidance System ◽  
Cnc Machine Tools ◽  
Cnc Machine Tool ◽  
Haptic Guidance ◽  
Cnc Machine ◽  
Human Machine Interfaces ◽  
Control Lever

The human-machine interfaces in modern CNC machine tools are not very intuitive and still based on archaic input systems, i.e., switches, handwheels, and buttons. This type of solution has two major drawbacks. The pushed button activates the movement only in one direction and is insensitive to the amount of the force exerted by the operator, which makes it difficult to move the machine axes at variable speeds. The paper proposes a novel and intuitive system of manual programming of a CNC machine tool based on a control lever with strain-gauge sensors. The presented idea of manual programming is aimed at eliminating the need to create a machining program and at making it possible to move the machine intuitively, eliminating mistakes in selecting directions and speeds. The article describes the concept of the system and the principle of operation of the control levers with force sensors. The final part of the work presents the experimental validation of the proposed system and a functionality comparison with the traditional CNC control.

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