LAPKaans: Tool-Motion Tracking and Gripping Force-Sensing Modular Smart Laparoscopic Training System

Abstract

Laparoscopic surgery demands highly skilled surgeons. Traditionally, a surgeon’s knowledge is acquired by operating under a mentor-trainee method. In recent years, laparoscopic simulators have gained ground as tools in skill acquisition. Despite the wide range of laparoscopic simulators available, few provide objective feedback to the trainee. Those systems with quantitative feedback tend to be high-end solutions with limited availability due to cost. A modular smart trainer was developed, combining tool-tracking and force-using employing commercially available sensors. Additionally, a force training system based on polydimethylsiloxane (PDMS) phantoms for sample stiffness differentiation is presented. This prototype was tested with 39 subjects, between novices (13), intermediates (13), and experts (13), evaluating execution differences among groups in training exercises. The estimated cost is USD $200 (components only), not including laparoscopic instruments. The motion system was tested for noise reduction and position validation with a mean error of 0.94 mm. Grasping force approximation showed a correlation of 0.9975. Furthermore, differences in phantoms stiffness effectively reflected user manipulation. Subject groups showed significant differences in execution time, accumulated distance, and mean and maximum applied grasping force. Accurate information was obtained regarding motion and force. The developed force-sensing tool can easily be transferred to a clinical setting. Further work will consist on a validation of the simulator on a wider range of tasks and a larger sample of volunteers.

Towards next generation digital twin in robotics: Trends, scopes, challenges, and future

“…As evident from Fig. 6 , DT-aided medical telerobotics was one of the fastest growing areas in recent years, with its key applications in robotic surgeries [30] , [31] , [32] , [33] , [34] . Again, in substantial instances of the medical telerobotic approaches explored in this study utilized an immersive VR interface/environment [30] , [35] , [36] .…”

“… Satisfactory latency of 150 ms without any attacks. 2020 Olivas-Alanis et al [31] A robot-assisted laparoscopic surgery training system where the digital twin of the tools was developed and displayed in the user interface. Enhanced spatial information.…”

Comparative evaluation of three commercially available markerless depth sensors for close-range use in surgical simulation

“…Multiple applications benefit from a more accurate close-range depth measurement, for example wound measurement systems [ 2 , 3 ], robot-guided positioning to grip novel objects [ 4 ], or defect inspection systems [ 5 ]. Depth sensors have been used for markerless real-time tool tracking at medium range, in a multi-sensor laparoscopic training setup [ 6 ], or for automating surgical manipulation tasks [ 7 – 9 ] using a robotic surgical assistant, and for gesture recognition in the operating room [ 10 ]. Prior work [ 11 – 13 ] provides a detailed comparison of various Intel Realsense™ cameras under different experimental setups, but however does not include the recently released D405, and is evaluated for a setting other than surgical simulation [ 14 ].…”

An intelligent grasper to provide real-time force feedback to shorten the learning curve in laparoscopic training

“…There are some systems appearing, which however rely on external force measuring platform and may lead to imprecise results [ 14 ]. For example, Luis et al [ 15 ] used an intelligent trainer equipped with a gripping sensor to measure the gripping force, but the measuring force is not really accurate. Hardon et al [ 16 ] use a box trainer with a built-in force tracking system to monitor the force to assess the operation skill of residents.…”