scholarly journals Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Xiao Li ◽  
Homa Alemzadeh ◽  
Daniel Chen ◽  
Zbigniew Kalbarczyk ◽  
Ravishankar K. Iyer ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Motion Planning ◽  
Haptic Feedback ◽  
Negative Impact ◽  
Skill Training ◽  
Hardware In The Loop ◽  
Training Simulator ◽  
Fast Marching ◽  
Training Environment ◽  
Telerobotic Surgery

This work presents a software and hardware framework for a telerobotic surgery safety and motor skill training simulator. The aims are at providing trainees a comprehensive simulator for acquiring essential skills to perform telerobotic surgery. Existing commercial robotic surgery simulators lack features for safety training and optimal motion planning, which are critical factors in ensuring patient safety and efficiency in operation. In this work, we propose a hardware-in-the-loop simulator directly introducing these two features. The proposed simulator is built upon the Raven-II™ open source surgical robot, integrated with a physics engine and a safety hazard injection engine. Also, a Fast Marching Tree-based motion planning algorithm is used to help trainee learn the optimal instrument motion patterns. The main contributions of this work are (1) reproducing safety hazards events, related to da Vinci™ system, reported to the FDA MAUDE database, with a novel haptic feedback strategy to provide feedback to the operator when the underlying dynamics differ from the real robot’s states so that the operator will be aware and can mitigate the negative impact of the safety-critical events, and (2) using motion planner to generate semioptimal path in an interactive robotic surgery training environment.

scholarly journals Formative Feedback Generation in a VR-based Dental Surgical Skill Training Simulator

2020 ◽  
pp. 103659
Author(s):  
Myat Su Yin ◽  
Peter Haddawy ◽  
Siriwan Suebnukarn ◽  
Farin Kulapichitr ◽  
Phattanapon Rhienmora ◽  
...  
Keyword(s):  
Skill Training ◽  
Formative Feedback ◽  
Surgical Skill ◽  
Training Simulator ◽  
Surgical Skill Training

scholarly journals Surgical Audio Guidance: Feasibility Check for Robotic Surgery Procedures

2020 ◽  
Vol 6 (3) ◽  
pp. 571-574
Author(s):  
Anna Schaufler ◽  
Alfredo Illanes ◽  
Ivan Maldonado ◽  
Axel Boese ◽  
Roland Croner ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Haptic Feedback ◽  
Acoustic Emissions ◽  
Surgical Instruments ◽  
Additional Information ◽  
Tissue Interactions ◽  
Haptic Interactions ◽  
Visual Clues ◽  
To Receive ◽  
Expected Signal

AbstractIn robot-assisted procedures, the surgeon controls the surgical instruments from a remote console, while visually monitoring the procedure through the endoscope. There is no haptic feedback available to the surgeon, which impedes the assessment of diseased tissue and the detection of hidden structures beneath the tissue, such as vessels. Only visual clues are available to the surgeon to control the force applied to the tissue by the instruments, which poses a risk for iatrogenic injuries. Additional information on haptic interactions of the employed instruments and the treated tissue that is provided to the surgeon during robotic surgery could compensate for this deficit. Acoustic emissions (AE) from the instrument/tissue interactions, transmitted by the instrument are a potential source of this information. AE can be recorded by audio sensors that do not have to be integrated into the instruments, but that can be modularly attached to the outside of the instruments shaft or enclosure. The location of the sensor on a robotic system is essential for the applicability of the concept in real situations. While the signal strength of the acoustic emissions decreases with distance from the point of interaction, an installation close to the patient would require sterilization measures. The aim of this work is to investigate whether it is feasible to install the audio sensor in non-sterile areas far away from the patient and still be able to receive useful AE signals. To determine whether signals can be recorded at different potential mounting locations, instrument/tissue interactions with different textures were simulated in an experimental setup. The results showed that meaningful and valuable AE can be recorded in the non-sterile area of a robotic surgical system despite the expected signal losses.

A Kind of Environment Monitoring System Used for Aircraft Fire Training Simulator

2013 ◽  
Vol 760-762 ◽  
pp. 1250-1253
Author(s):  
Chun Guo Fei ◽  
Jin Long Zhang ◽  
Tian Hao Liu ◽  
Hai Zhong Xu
Keyword(s):  
Monitoring System ◽  
Pid Controller ◽  
Closed Loop ◽  
Real Time Control ◽  
Training Simulator ◽  
Training Environment ◽  
Time Control ◽  
Sensor Detection ◽  
Training Efficiency ◽  
Command Center

Aircraft fire training simulators are key facilities in airport used for firefighters to do firefighting trainings. In order to protect the safety of firefighters, the monitoring system should be applied to monitor the internal environment of the simulator. In accordance with the requirements of the training environment, a kind of monitoring system based on MCU and GPRS communication components are built. The parameterized PID controller, the sensor detection module, the fan and spray drive module are consisted of closed-loop to achieve real-time control and regulation on the smoke and temperature of the internal simulator. Using GPRS module, the internal scenes of the simulator are sent to the command center through the information transmission system. Based on the information transported from training site, command center can take the appropriate training programs to guide firefighters. Use this system, the training safety is ensured and the training efficiency is improved at the same time.

A hardware-in-the-loop simulator for safety training in robotic surgery

2016 ◽  
Author(s):  
Xiao Li ◽  
Homa Alemzadeh ◽  
Daniel Chen ◽  
Zbigniew Kalbarczyk ◽  
Ravishankar K. Iyer ◽  
...  
Keyword(s):  
Robotic Surgery ◽  
Safety Training ◽  
Hardware In The Loop

scholarly journals Training Simulator for Acquiring Operational Skill to Operate Overhead Traveling Crane while Suppressing Load Sway

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Yoshiyuki Noda ◽  
Ryuki Hoshi ◽  
Akihiro Kaneshige
Keyword(s):  
Skill Training ◽  
Training System ◽  
Working Environment ◽  
Training Simulator ◽  
Operational Conditions ◽  
Training Approach ◽  
Efficient Transport ◽  
Advanced System ◽  
Visual Instructions

The present study addressed an advanced system that was designed to teach the skills needed to operate an electric overhead traveling crane. In the operation of an overhead traveling crane, to ensure the safe and efficient transport of a load, an operator must be able to suppress the sway of that load. However, considerable training is needed to master this skill. Furthermore, the beginners may cause accidents by operating the crane incorrectly. Therefore, in the present study, we devised a training system in which an operator can safely and efficiently master the operation of an electric overhead traveling crane while suppressing the load sway. In this approach, the operational conditions in which the load sway is suppressed can be derived theoretically. The operational conditions are displayed by the crane simulator as visual instructions in a virtual working environment. The efficacy of the proposed skill training approach with the crane simulator was verified through experiments whereby novices used the crane simulator to perform the task of transporting a load while suppressing load sway.

scholarly journals A Hybrid Method for Pancreas Extraction from CT Image Based on Level Set Methods

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Huiyan Jiang ◽  
Hanqing Tan ◽  
Hiroshi Fujita
Keyword(s):  
Level Set Method ◽  
Level Set ◽  
Negative Impact ◽  
Level Set Methods ◽  
Region Growing ◽  
Ct Images ◽  
Medical Image Segmentation ◽  
Initial Contour ◽  
Ct Image ◽  
Fast Marching

This paper proposes a novel semiautomatic method to extract the pancreas from abdominal CT images. Traditional level set and region growing methods that request locating initial contour near the final boundary of object have problem of leakage to nearby tissues of pancreas region. The proposed method consists of a customized fast-marching level set method which generates an optimal initial pancreas region to solve the problem that the level set method is sensitive to the initial contour location and a modified distance regularized level set method which extracts accurate pancreas. The novelty in our method is the proper selection and combination of level set methods, furthermore an energy-decrement algorithm and an energy-tune algorithm are proposed to reduce the negative impact of bonding force caused by connected tissue whose intensity is similar with pancreas. As a result, our method overcomes the shortages of oversegmentation at weak boundary and can accurately extract pancreas from CT images. The proposed method is compared to other five state-of-the-art medical image segmentation methods based on a CT image dataset which contains abdominal images from 10 patients. The evaluated results demonstrate that our method outperforms other methods by achieving higher accuracy and making less false segmentation in pancreas extraction.

A Microsurgical Robotic System that Induces a Multisensory Illusion

2016 ◽  
Vol 13 (04) ◽  
pp. 1650018 ◽  
Author(s):  
Jumpei Arata ◽  
Kazuo Kiguchi ◽  
Masashi Hattori ◽  
Masamichi Sakaguchi ◽  
Ryu Nakadate ◽  
...  
Keyword(s):  
Time Delay ◽  
Robotic Surgery ◽  
Haptic Feedback ◽  
Robotic System ◽  
Degree Of Freedom ◽  
System Response ◽  
Prototype Implementation ◽  
Hand Coordination ◽  
The Given

Intuitiveness in robotic surgery is highly desirable when performing highly elaborate surgical tasks using surgical master–slave systems (MSSs), such as suturing. To increase the operability of such systems, the time delay of the system response, haptic feedback, and eye–hand coordination are the issues that have received the most attention. In addition to these approaches, we propose a surgical robotic system that induces a multisensory illusion. In our previous study, we reported that a robotic instrument we devised enhances the multisensory illusion. In this paper, we determine the requirements for inducing this multisensory illusion in a multi-degree-of-freedom (DOF) MSS, and the first stage of prototype implementation based on the given requirements is described.

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