The role of haptics in medical training simulators: a survey of the state of the art (original) (raw)

A Framework for the Design of a Novel Haptic-Based Medical Training Simulator

IEEE Transactions on Information Technology in Biomedicine, 2008

This paper presents a framework for the design of a haptic-based medical ultrasound training simulator. The proposed simulator is composed of a PHANToM haptic device and a modular software package that allows for visual feedback and kinesthetic interactions between an operator and multimodality image databases. The system provides real-time ultrasound images in the same fashion as a typical ultrasound machine, enhanced with corresponding augmented computerized tomographic (CT) and/or MRI images. The proposed training system allows trainees to develop radiology techniques and knowledge of the patient's anatomy with minimum practice on live patients, or in places or at times when radiology devices or patients with rare cases may not be available. Low-level details of the software structure that can be migrated to other similar medical simulators are described. A preliminary human factors study, conducted on the prototype of the developed simulator, demonstrates the potential usage of the system for clinical training.

A survey of visuo-haptic simulation in surgical training

Surgeons must accomplish complex technical and intellectual tasks that can generate unexpected and serious challenges with little or no room for error. In the last decade, computer simulations have played an increasing role in surgical training, pre-operative planning, and biomedical research. Specifically, visuo-haptic simulations have been the focus of research to develop advanced e-Learning systems facilitating surgical training. Visuo-haptic simulations combine the tactile sense with visual information and provide realistic training scenarios, to gain, improve, and assess resident and expert surgeons' skills and knowledge. Choosing the suitable haptic hardware, API or framework for developing a visuo-haptic e-Learning system is an important decision that is based on several factors. We present a survey of the most popular hardware and software components for haptic based laparoscopic surgical training system development. We also discuss the assessment and integration of such systems as e-Learning components in hospitals.

The use of haptics in medical applications

2004

Explains the need for haptics (feeling of touch) in medical simulation systems. Describes a variety of laparoscopic training systems and other surgical simulators. Highlights the Reachin Technologies AB Application Programming Interface (API) which is a software tool that significantly speeds up the development of surgical simulators.

Development of a real-time visual and force environment for a haptic medical training simulator

2008

Abstract In this article, a real-time, visual and force environment for a 5-dof haptic urological training simulator is presented that deals with a low-force, high-deformation environment. A real-time graphical representation of the male urethra during the insertion of an endoscope is developed. Smooth urethra deformations are produced by a mesh of piece-wise Bézier interpolations, while its inner wall is simulated by realistic tissue textures. Efficient real-time techniques are developed that introduce endoscope camera depth-of-field effects.

Haptically enhanced VR surgical training system

Current Directions in Biomedical Engineering

This paper proposes a cost-effective VR surgical training system which computes haptic feedback forces when a VR surgical tool interacts with virtual tissues. A 3 degrees of freedom (DoF) reverse linear Delta mechanism is used to render computed force feedback data which are then received by the fingertip of the operator. Additionally, the moving plate allows rendering of surface properties and lateral forces occurring due to a tumor with different stiffness parameters below the skin surface. Controllers are designed and implemented to regulate the haptic feedback device’s end-effector position and applied force. The virtual surgical instruments are controlled by a 7DoF serial link manipulator which captures the operator’s movement by the utilization of various sensors. The controllers to regulate forces as well as the positions are evaluated with the proposed haptic feedback device. The mean RMSE of the force and mean error of the angular displacement are 0.0707 N and 1.95°, respec...

Simulation and Training with Haptic Feedback - A Review

Recent advances in haptic technology have broadened the applicability spectrum of haptic devices and the potential of prototype development for commerce. This article provides a review of the available haptic technologies and associated hardware/software characteristics. We compare haptic devices from the hardware perspective. We present the main features of existing haptic APIs as well as the trend in haptic applications development. We examine several case studies to demonstrate the effectiveness of haptic devices.

Haptic Feedback Systems in Medical Education

This paper brings into discussion some of the most relevant technological challenges involving haptic systems in medical education. One of these challenges is choos ing the suitable haptic hardware, API or framework f or developing a visuo-haptic el.e arning system. The decision is based on seve ral criteria such as the multimodal resources needed by the sof tware system, compatibility with haptic devices and the dynamic confi guration of the scene. Another challenge is related to the soft ware system reactivity in conj unction with the user 's actions. The immediate hapti c f eedba ck from the virtual models, together with the synchronization of the rendered haptic and visual cues seen by the users are esse ntial f or enhancing the user's learnin g abili ty. Visuo-haptic simulation f acilitates accurat e trainin g scenarios of medical protocols and surgical processes.