scholarly journals Influence of Force and Torque Feedback on Operator Performance in a VR-Based Suturing Task

2010 ◽  
Vol 7 (3) ◽  
pp. 217-230 ◽  
Author(s):  
L. Santos-Carreras ◽  
R. Beira ◽  
A. Sengül ◽  
R. Gassert ◽  
H. Bleuler
Keyword(s):  
Task Performance ◽  
Open Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Surgical Care ◽  
Medical Background ◽  
Technological Advances ◽  
Robotic Surgical System ◽  
Surgical System

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon’s master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon’s master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator’s suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject’s dexterity, while torque feedback might not further benefit such a task.

Evaluation of a Haptic Mixed Reality System for Interactions with a Virtual Control Panel

2005 ◽  
Vol 14 (6) ◽  
pp. 677-696 ◽  
Author(s):  
Christoph W. Borst ◽  
Richard A. Volz
Keyword(s):  
Task Performance ◽  
Visual Feedback ◽  
Direct Contact ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Control Panel ◽  
Combined Approach ◽  
Subjective Ratings ◽  
Virtual Control

We present a haptic feedback technique that combines feedback from a portable force-feedback glove with feedback from direct contact with rigid passive objects. This approach is a haptic analogue of visual mixed reality, since it can be used to haptically combine real and virtual elements in a single display. We discuss device limitations that motivated this combined approach and summarize technological challenges encountered. We present three experiments to evaluate the approach for interactions with buttons and sliders on a virtual control panel. In our first experiment, this approach resulted in better task performance and better subjective ratings than the use of only a force-feedback glove. In our second experiment, visual feedback was degraded and the combined approach resulted in better performance than the glove-only approach and in better ratings of slider interactions than both glove-only and passive-only approaches. A third experiment allowed subjective comparison of approaches and provided additional evidence that the combined approach provides the best experience.

scholarly journals Comparison of Algorithms for Haptic Interaction With Isosurfaces Extracted From Volumetric Datasets

2012 ◽  
Vol 12 (2) ◽  
Author(s):  
Silvio H. Rizzi ◽  
Cristian J. Luciano ◽  
P. Pat Banerjee
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Frame Rate ◽  
Intermediate Representation ◽  
Polygonal Mesh ◽  
Tactile Interaction ◽  
Depth Buffer ◽  
3D Anatomy ◽  
Simultaneous Visualization

Combinations of graphics and haptics libraries are used in medical simulations for simultaneous visualization and tactile interaction with complex 3D anatomy models. The minimum frame rate of 1 kHz for haptics rendering makes it a nontrivial problem when dealing with complex and highly detailed polygonal models. Multiple haptics algorithms based on polygonal mesh rendering, volume haptics, and intermediate representation are evaluated in terms of their servoloop rendering time, client thread rendering time, and quality of force feedback. Algorithms include OpenHaptics’ Feedback Buffer and Depth Buffer, GodObject and Ruspini renderers in h3d, chai3d implementation in h3d, ScalarSurfaceFriction mode in Volume Haptics ToolKit (vhtk), and the authors’ intermediate representation algorithm based on volumetric data. The latter, in combination with surface graphics visualization, is found to deliver the best rendering time, to detect all collisions and to provide correct haptic feedback where other algorithms fail.

An Experimental Study of Haptic Feedback in a Teleoperated Assembly Task

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Göran A. V. Christiansson
Keyword(s):  
Task Performance ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Human Subjects ◽  
Low Frequency ◽  
Contact Forces ◽  
Task Completion ◽  
Mental Load ◽  
Assembly Task ◽  
Haptic Cues

Haptic feedback is known to improve teleoperation task performance for a number of tasks, and one important question is which haptic cues are the most important for each specific task. This research quantifies human performance in an assembly task for two types of haptic cues: low-frequency (LF) force feedback and high-frequency (HF) force feedback. A human subjects study was performed with those two main factors: LF force feedback on/off and HF force (acceleration) feedback on/off. All experiments were performed using a three degree-of-freedom teleoperator where the slave device has a low intrinsic stiffness, while the master device on the other hand is stiff. The results show that the LF haptic feedback reduces impact forces, but does not influence low-frequency contact forces or task completion time. The HF information did not improve task performance, but did reduce the mental load of the teleoperator, but only in combination with the LF feedback.

Frame Mapping and Motion Constraint Effects on Task Performance in Robotic Endoscopic Surgery

1999 ◽  
Author(s):  
Fuji Lai ◽  
Robert D. Howe ◽  
Paul A. Millman ◽  
Sudipto Sur
Keyword(s):  
Minimally Invasive ◽  
Task Performance ◽  
Performance Measures ◽  
Endoscopic Surgery ◽  
Open Surgery ◽  
Motor Mapping ◽  
Minimally Invasive Surgical ◽  
Constraint Effects ◽  
Motion Constraint ◽  
Surgical System

Abstract This paper presents the implementation and evaluation of a minimally invasive surgical system whereby a surgeon can maintain as natural a spatio-motor mapping as possible using a 4 DOF constrained slave robot. One way to achieve this interface is to interpose a robotic system between surgeon and patient which will act as a translator between the 6 degree-of-freedom open surgery-like motions of the surgeon and corresponding endoscopic motions within the patient. Our goal was to find the interface that was easiest to learn. We investigated the effects of different master-slave mappings (screen-mapped versus instrument-mapped) and master dexterities (6DOF versus 4 DOF) by means of performance measures noted on simple surgical tasks. This interface has been found to allow motions very similar to those used in natural prehension and open surgery. The particular combination of instrument-based master-slave mapping and 4DOF master has been found to be especially advantageous.

1033: Laparoscopic Transperitoneal Pyeloplasty using a Remote-Controlled Robotic Surgical System (DA VINCI®). 70 Cases and one Year Follow-Up

2006 ◽  
Vol 175 (4S) ◽  
pp. 332-333
Author(s):  
Jacques Hubert ◽  
Maṅo Chammas ◽  
Benoit Feillu ◽  
Eric Mourey ◽  
Usha Seshadri-Kreaden
Keyword(s):  
Da Vinci ◽  
One Year ◽  
Laparoscopic Transperitoneal ◽  
Robotic Surgical System ◽  
Surgical System

KURIKULUM DAN TANTANGANNYA Studi Kasus Jurusan Perbankan Syariah di SMK Ibnu Sina

2020 ◽  
Author(s):  
Eny Puspita Ningrum
Keyword(s):  
Curriculum Reform ◽  
Face To Face ◽  
Educational Curriculum ◽  
Study Approach ◽  
Technological Advances ◽  
Life Education ◽  
Real Picture ◽  
In The Beginning

Education is an important thing that has become a necessity for every human being in order to achieve a better quality of life. Education cannot be separated from the educational curriculum, which is where the curriculum continues to develop following every development of society and technological advances. The curriculum is the heart of education and is dynamic in nature where the curriculum must always be updated or changed. From this curriculum reform and change, it is a challenge for teachers to continue to innovate to improve the quality of education. By using a qualitative research method a case study approach, it is hoped that it can explain the real picture that is being experienced by the teacher at SMK Ibnu Sina. which focuses on the Sharia Banking major due to changes in the adjusted curriculum because the world is being faced by COVID-19. In the era of COVID-19, the educational curriculum must be adjusted, which in the beginning learning can be face-to-face now has turned into a distance learning online learning model.

scholarly journals Barriers to training in laparoscopic surgery in low- and middle-income countries: A systematic review

2021 ◽  
pp. 004947552199818
Author(s):  
Ellen Wilkinson ◽  
Noel Aruparayil ◽  
J Gnanaraj ◽  
Julia Brown ◽  
David Jayne
Keyword(s):  
Laparoscopic Surgery ◽  
Low Cost ◽  
Surgical Care ◽  
Successful Implementation ◽  
Middle Income ◽  
Middle Income Countries ◽  
Technological Advances ◽  
Local Access ◽  
And Training ◽  
Low And Middle Income

Laparoscopic surgery has the potential to improve care in resource-deprived low- and-middle-income countries (LMICs). This study aims to analyse the barriers to training in laparoscopic surgery in LMICs. Medline, Embase, Global Health and Web of Science were searched using ‘LMIC’, ‘Laparoscopy’ and ‘Training’. Two researchers screened results with mutual agreement. Included papers were in English, focused on abdominal laparoscopy and training in LMICs. PRISMA guidelines were followed; 2992 records were screened, and 86 full-text articles reviewed to give 26 key papers. Thematic grouping identified seven key barriers: funding; availability and maintenance of equipment; local access to experienced laparoscopic trainers; stakeholder dynamics; lack of knowledge on effective training curricula; surgical departmental structure and practical opportunities for trainees. In low-resource settings, technological advances may offer low-cost solutions in the successful implementation of laparoscopic training and improve access to surgical care.

scholarly journals The effectiveness of different patient referral systems to shorten waiting times for elective surgeries: systematic review

2021 ◽  
Vol 21 (1) ◽  
Author(s):  
Dimuthu Rathnayake ◽  
Mike Clarke
Keyword(s):  
Primary Care ◽  
Health Systems ◽  
Elective Surgery ◽  
Waiting Times ◽  
Surgical Care ◽  
High Income ◽  
Surgical Patients ◽  
Timely Access ◽  
Referral Systems

Abstract Background Long waiting times for elective surgery are common to many publicly funded health systems. Inefficiencies in referral systems in high-income countries are more pronounced than lower and middle-income countries. Primary care practitioners play a major role in determining which patients are referred to surgeon and might represent an opportunity to improve this situation. With conventional methods of referrals, surgery clinics are often overcrowded with non-surgical referrals and surgical patients experience longer waiting times as a consequence. Improving the quality of referral communications should lead to more timely access and better cost-effectiveness for elective surgical care. This review summarises the research evidence for effective interventions within the scope of primary-care referral methods in the surgical care pathway that might shorten waiting time for elective surgeries. Methods We searched PubMed, EMBASE, SCOPUS, Web of Science and Cochrane Library databases in December-2019 to January-2020, for articles published after 2013. Eligibility criteria included major elective surgery lists of adult patients, excluding cancer related surgeries. Both randomised and non-randomised controlled studies were eligible. The quality of evidence was assessed using ROBINS-I, AMSTAR 2 and CASP, as appropriate to the study method used. The review presentation was limited to a narrative synthesis because of heterogeneity. The PROSPERO registration number is CRD42019158455. Results The electronic search yielded 7543 records. Finally, nine articles were considered as eligible after deduplication and full article screening. The eligible research varied widely in design, scope, reported outcomes and overall quality, with one randomised trial, two quasi-experimental studies, two longitudinal follow up studies, three systematic reviews and one observational study. All the six original articles were based on referral methods in high-income countries. The included research showed that patient triage and prioritisation at the referral stage improved timely access and increased the number of consultations of surgical patients in clinics. Conclusions The available studies included a variety of interventions and were of medium to high quality researches. Managing patient referrals with proper triaging and prioritisation using structured referral formats is likely to be effective in health systems to shorten the waiting times for elective surgeries, specifically in high-income countries.

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