Development of parietal bone surrogates for parietal graft lift training

Hollensteiner, Marianne; Fürst, David; Esterer, Benjamin; Hunger, Stefan; Malek, Michael; Augat, Peter; Schrödl, Falk; Stephan, Daniel; Schrempf, Andreas

doi:10.1515/cdbme-2016-0140

Cited by 4 publications

(4 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to this uncertainty, no assistances based on planning data can be offered within the safety offset. Here, the force profile during milling [33] could serve as an information source for the surgeon, in order to preserve the dura and be able to modify the outer contour of the craniectomy according to intraoperative requirements [29].…”

Section: Milling (Partial Knee Replacement Craniectomy)mentioning

confidence: 99%

“…Below a certain security offset (approximately 1 mm [30]), haptic feedback in the depth direction has to be relied upon, while haptic guidance is offered in the remaining DOFs, enabling a synergistic path control [12]. A simulated haptic feedback was implemented based on the force profile in [33]. The GUI and descriptions of the visual elements are illustrated in Fig.…”

Section: Milling (Partial Knee Replacement Craniectomy)mentioning

confidence: 99%

See 1 more Smart Citation

Augmentation of haptic feedback for teleoperated robotic surgery

Schleer¹,

Kaiser²,

Drobinsky³

et al. 2020

Int J CARS

View full text Add to dashboard Cite

Purpose A frequently mentioned lack of teleoperated surgical robots is the lack of haptic feedback. Haptics are not only able to mirror force information from the situs, but also to provide spatial guidance according to a surgical plan. However, superposition of the two haptic information can lead to overlapping and masking of the feedback and guidance forces. This study investigates different approaches toward a combination of both information and investigates effects on system usability. Methods Preliminary studies are conducted to define parameters for two main experiments. The two main experiments constitute simulated surgical interventions where haptic guidance as well as haptic feedback provide information for the surgeon. The first main experiment considers drilling for pedicle screw placements, while the second main experiment refers to three-dimensional milling tasks such as during partial knee replacements or craniectomies. For both experiments, different guidance modes in combination with haptic feedback are evaluated regarding effectiveness (e.g., distance to target depth), efficiency and user satisfaction (e.g., detectability of discrepancies in case of technical guidance error). Results Regarding pedicle screw placements a combination of a peripheral visual signal and a vibration constitutes a good compromise regarding distance to target depth and detectability of discrepancies. For milling tasks, trajectory guidance is able to improve efficiency and user satisfaction (e.g., perceived workload), while boundary constraints improve effectiveness. If, assistance cannot be offered in all degrees of freedom (e.g., craniectomies), a visual substitution of the haptic force feedback shows the best results, though participants prefer using haptic force feedback. Conclusion Our results suggest that in case haptic feedback and haptic assistance are combined appropriately, benefits of both haptic modalities can be exploited. Thereby, capabilities of the human-machine system are improved compared to usage of exclusively one of the haptic information.Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

show abstract

Section: Milling (Partial Knee Replacement Craniectomy)mentioning

confidence: 99%

Section: Milling (Partial Knee Replacement Craniectomy)mentioning

confidence: 99%

Augmentation of haptic feedback for teleoperated robotic surgery

Schleer¹,

Kaiser²,

Drobinsky³

et al. 2020

Int J CARS

View full text Add to dashboard Cite

show abstract

“…Large deviations can put additional stress on the underlying nerve tissue or prolong the duration of surgery. The morphological evaluations of the implants and synthetic bone structures [30] before and after the impact tests offer the possibility to conclude on fatigue strength and maximum fatigue loads of the defect restoration.…”

Section: Discussionmentioning

confidence: 99%

Non-destructive evaluation of patient-specific cranial implants using microcomputed tomography

Wittner¹,

Kastner²,

Schäfer³

et al. 2022

eJNDT

View full text Add to dashboard Cite

The combination of computer – aided design (CAD) techniques based on computed tomography (CT) data support the planning of patient – specific implants massively. During the last decade, Geometric Morphometric (GMM) methods utilizing thin – plate splines (TPS) were increasingly used to estimate missing data in clinical cases that are characterized by large skull defects featuring partly and completely missing midsagittal planes. Applying a dedicated reconstruction protocol, GMM methods enable the design of personalized cranial implants that accurately reproduce the bone thickness of the affected area. In this study we applied a TPS based reconstruction approach to design a cranial implant of a clinical case that features the bone thickness distribution in the affected region. This virtual model was subsequently additively manufactured (AM) by fused filament fabrication (FFF) using polyetheretherketone (PEEK). The 3D - printed implant was non – destructively investigated via X-ray microcomputed tomography (XCT). The nominal – actual comparison between the designed virtual model and XCT scan of the final implant showed an average deviation in terms of root mean square (RMS) error of 0.168 mm. Additionally, a pore analysis of the 3D printed implant was carried out showing a porosity of 0.07%.

show abstract

“…2 GUI for guided milling experiment a main view in constraint mode when velocity is exceeded, b trajectory (second layer), c visually substituted haptic feedback surgeon cannot be assisted underneath a security offset of approximately 1 mm [37]. No assistance is offered in the depth direction within the security offset and the surgeon has to rely on visual and, if offered, haptic cues, which contain important supplementary information due to a distinct force profile during milling [40].…”

Section: Depth Sensitive Millingmentioning

confidence: 99%

Usability of cooperative surgical telemanipulation for bone milling tasks

et al. 2020

View full text Add to dashboard Cite

Purpose Cooperative surgical systems enable humans and machines to combine their individual strengths and collaborate to improve the surgical outcome. Cooperative telemanipulated systems offer the widest spectrum of cooperative functionalities, because motion scaling is possible. Haptic guidance can be used to assist surgeons and haptic feedback makes acting forces at the slave side transparent to the operator, however, overlapping and masking of forces needs to be avoided. This study evaluates the usability of a cooperative surgical telemanipulator in a laboratory setting. Methods Three experiments were designed and conducted for characteristic surgical task scenarios derived from field studies in orthopedics and neurosurgery to address bone tissue differentiation, guided milling and depth sensitive milling. Interaction modes were designed to ensure that no overlapping or masking of haptic guidance and haptic feedback occurs when allocating information to the haptic channel. Twenty participants were recruited to compare teleoperated modes, direct manual execution and an exemplary automated milling with respect to usability. Results Participants were able to differentiate compact and cancellous bone, both directly manually and teleoperatively. Both telemanipulated modes increased effectiveness measured by the mean absolute depth and contour error for guided and depth sensitive millings. Efficiency is decreased if solely a boundary constraint is used in hard material, while a trajectory guidance and manual milling perform similarly. With respect to subjective user satisfaction trajectory guidance is rated best for guided millings followed by boundary constraints and the direct manual interaction. Haptic feedback only improved subjective user satisfaction. Conclusion A cooperative surgical telemanipulator can improve effectiveness and efficiency close to an automated execution and enhance user satisfaction compared to direct manual interaction. At the same time, the surgeon remains part of the control loop and is able to adjust the surgical plan according to the intraoperative situation and his/her expertise at any time.

show abstract

Development of parietal bone surrogates for parietal graft lift training

Cited by 4 publications

References 16 publications

Augmentation of haptic feedback for teleoperated robotic surgery

Augmentation of haptic feedback for teleoperated robotic surgery

Non-destructive evaluation of patient-specific cranial implants using microcomputed tomography

Usability of cooperative surgical telemanipulation for bone milling tasks

Contact Info

Product

Resources

About