Visuohaptic simulation of bone surgery for training and evaluation

Morris, Dan; Sewell, Christopher; Barbagli, Federico; Salisbury, Kenneth; Blevins, Nikolas H.; Girod, Sabine

doi:10.1109/mcg.2006.140

Cited by 167 publications

(86 citation statements)

References 5 publications

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“…32 One popular use for hapticsenabled surgical robots is in the training and assessment of surgery residents. [33][34][35][36] It has been shown that such systems can be useful for improving surgical skills and for assessing the proficiency of the trainees. However, the most important application of haptics-enabled systems is in the actual operating room, where the surgeon performs delicate procedures that require precise and accurate sensory perception.…”

Section: Discussionmentioning

confidence: 99%

Improving the human–robot interface for telemanipulated robotic long bone fracture reduction: Joystick device vs. haptic manipulator

Suero

Hartung

Westphal

et al. 2017

Robotics Computer Surgery

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Objectives: Intramedullary nailing is the treatment of choice for femoral shaft fractures.However, there are several problems associated with the technique, e.g. high radiation exposure and rotational malalignment. Experimental robotic assistance has been introduced to improve the quality of the reduction and to reduce the incidence of rotational malalignment. In the current study, we compare two devices for control of the fracture fragments during telemanipulated reduction.Methods: Ten male and ten female subjects were asked to participate as examiners in this experiment. A computer program was developed to render and manipulate CT-based renderings of femur fracture bone fragments. The user could manipulate the fragments using either a simple joystick device or a haptic manipulator. Each examiner performed telemanipulated reduction of 10 virtual fracture models of varying difficulty with each device (five in a 'training phase' and five in a 'testing phase'). Mixed models were used to test whether using the haptic device improved alignment accuracy and improved reduction times compared to using a joystick.Results: Reduction accuracy was not significantly different between devices in either the training phase or the testing phase (P > 0.05). Reduction time was significantly higher for the Phantom device than for the Joystick in the training phase (P < 0.0001), but it was no different in the testing phase (P = 0.865). High spatial ability with electronics had a significant effect on the alignment of fracture reduction and time to reduction. Conclusions:The Joystick and the Phantom devices resulted in similarly accurate reductions, with the Joystick having an easier learning curve. The Phantom device offered no advantage over the Joystick for fracture telemanipulation. Considering the high cost of the Phantom device and the lack of a demonstrable advantage over the Joystick, its use is not justified for implementation in a fracture telemanipulation workflow. The Joystick remains as a low-cost and effective device for developing 3D fracture telemanipulation techniques.

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Section: Discussionmentioning

confidence: 99%

Improving the human–robot interface for telemanipulated robotic long bone fracture reduction: Joystick device vs. haptic manipulator

Suero

Hartung

Westphal

et al. 2017

Robotics Computer Surgery

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“…Moreover, combined hapticvisual training modes have an advantage over either haptic or visual modes alone for tasks that have a force component, such as surgical simulation [15]. However, limitations to surgical training with a haptic feedback simulator were reported in one study; even though haptic feedback enabled a significant improvement in a laparoscopic suturing and knot-tying task with a higher learning rate, the surgeons reached a plateau after 5 h of training with the haptic device [16].…”

Section: Discussionmentioning

confidence: 99%

Haptic feedback improves surgeons’ user experience and fracture reduction in facial trauma simulation

et al. 2016

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Abstract-Computer-assisted surgical (CAS) planning tools are available for craniofacial surgery but are usually based on computer-aided design (CAD) tools that lack the ability to detect the collision of virtual objects (i.e., fractured bone segments). We developed a CAS system featuring a sense of touch (haptic) that enables surgeons to physically interact with individual, patient-specific anatomy and immerse in a threedimensional virtual environment. In this study, we evaluated initial user experience with our novel system compared to an existing CAD system. Ten surgery resident trainees received a brief verbal introduction to both the haptic and CAD systems. Users simulated mandibular fracture reduction in three clinical cases within a 15 min time limit for each system and completed a questionnaire to assess their subjective experience. We compared standard landmarks and linear and angular measurements between the simulated results and the actual surgical outcome and found that haptic simulation results were not significantly different from actual postoperative outcomes. In contrast, CAD results significantly differed from both the haptic simulation and actual postoperative results. In addition to enabling a more accurate fracture repair, the haptic system provided a better user experience than the CAD system in terms of intuitiveness and self-reported quality of repair.

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“…Their model is simple, fast to compute and fits quite well with experimental data. The geometry of the drill is assumed to be a sphere but Morris et al [13] proposed a more complete erosion rate model based on sample points on the drill tool. An other milling model is also proposed in [14].…”

Section: Previous Workmentioning

confidence: 99%

Six Degree-of Freedom Haptic Rendering for Dental Implantology Simulation

Syllebranque

Duriez

2010

Biomedical Simulation

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Abstract. Training systems for dental implantology that are based on virtual reality need a precise haptic feedback with six Degrees of Freedom (6DoF) This is particularly challenging when using real patient data for the jawbone and during the interactive simulation of drilling. In this paper, we present our simulator and two complementary contributions: The first one is a method for 6DoF haptic rendering of contacts between the drilling tool and the jawbone model issued from a CT-scan. The second one is a fast simulation of the jawbone erosion during drilling which is relevant for 6DoF haptic rendering.

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Visuohaptic simulation of bone surgery for training and evaluation

Cited by 167 publications

References 5 publications

Improving the human–robot interface for telemanipulated robotic long bone fracture reduction: Joystick device vs. haptic manipulator

Improving the human–robot interface for telemanipulated robotic long bone fracture reduction: Joystick device vs. haptic manipulator

Haptic feedback improves surgeons’ user experience and fracture reduction in facial trauma simulation

Six Degree-of Freedom Haptic Rendering for Dental Implantology Simulation

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