Conference Reports

SIXTH ANNUAL SYMPOSIUM ON HAPTIC INTERFACESThe Sixth Annual Symposium for Haptic Interfaces for Virtual Environment and Teleoperator Systems was held on Nov. 17–18, 1997 in Dallas, Texas. Haptic interfaces are devices that allow human–machine interaction through force and touch. Areas of application include, but are by no means limited, to telemanipulation (for work in hazardous or challenging environments such as space exploration, undersea operations, microsurgery and minimally-invasive surgery, and hazardous waste clean-up) and virtual environments (for realistic interactions with computer simulations in critical procedure training, architectural design, product prototyping, and data visualization).

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Use of a Low-Cost Portable 3D Virtual Reality Gesture-Mediated Simulator for Training and Learning Basic Psychomotor Skills in Minimally Invasive Surgery: Development and Content Validity Study (Preprint)

10.2196/preprints.17491 ◽

2019 ◽

Cited By ~ 2

Author(s):

Fernando Alvarez-Lopez ◽

Marcelo Fabián Maina ◽

Francesc Saigí-Rubió

Keyword(s):

Virtual Reality ◽

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Virtual Environments ◽

Invasive Surgery ◽

Low Cost ◽

Simulator Training ◽

Validity Evidence ◽

Psychomotor Skills ◽

Likert Score

BACKGROUND Simulation in virtual environments has become a new paradigm for surgeon training in minimally invasive surgery (MIS). However, this technology is expensive and difficult to access. OBJECTIVE This study aims first to describe the development of a new gesture-based simulator for learning skills in MIS and, second, to establish its fidelity to the criterion and sources of content-related validity evidence. METHODS For the development of the gesture-mediated simulator for MIS using virtual reality (SIMISGEST-VR), a design-based research (DBR) paradigm was adopted. For the second objective, 30 participants completed a questionnaire, with responses scored on a 5-point Likert scale. A literature review on the validity of the MIS training-VR (MIST-VR) was conducted. The study of fidelity to the criterion was rated using a 10-item questionnaire, while the sources of content-related validity evidence were assessed using 10 questions about the simulator training capacity and 6 questions about MIS tasks, and an iterative process of instrument pilot testing was performed. RESULTS A <i>good enough</i> prototype of a gesture-based simulator was developed with metrics and feedback for learning psychomotor skills in MIS. As per the survey conducted to assess the fidelity to the criterion, all 30 participants felt that most aspects of the simulator were adequately realistic and that it could be used as a tool for teaching basic psychomotor skills in laparoscopic surgery (Likert score: 4.07-4.73). The sources of content-related validity evidence showed that this study’s simulator is a reliable training tool and that the exercises enable learning of the basic psychomotor skills required in MIS (Likert score: 4.28-4.67). CONCLUSIONS The development of gesture-based 3D virtual environments for training and learning basic psychomotor skills in MIS opens up a new approach to low-cost, portable simulation that allows ubiquitous learning and preoperative warm-up. Fidelity to the criterion was duly evaluated, which allowed a good enough prototype to be achieved. Content-related validity evidence for SIMISGEST-VR was also obtained.

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A Dual-Arm 7-Degrees-of-Freedom Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery

Journal of Medical Devices ◽

10.1115/1.4026984 ◽

2014 ◽

Vol 8 (4) ◽

Cited By ~ 7

Author(s):

Ali Talasaz ◽

Ana Luisa Trejos ◽

Simon Perreault ◽

Harmanpreet Bassan ◽

Rajni V. Patel

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Degrees Of Freedom ◽

Haptic Feedback ◽

Sensory Substitution ◽

Haptic Interfaces ◽

Test Bed ◽

Haptic Information ◽

Dual Arm

This paper describes a dual-arm teleoperation (master-slave) system which has been developed to explore the effect of haptics in robotics-assisted minimally invasive surgery (RAMIS). This setup is capable of measuring forces in 7 degrees of freedom (DOF) and fully reflecting them to the operator through two 7-DOF haptic interfaces. An application of the test bed is in enabling the evaluation of the effect of replacing haptic feedback by other sensory cues such as visual representation of haptic information (sensory substitution). This paper discusses the design rationale, kinematic analysis and dynamic modeling of the robot manipulators, and the control system developed for the setup. Using the accurate model developed in this paper, a highly transparent haptics-enabled system can be achieved and used in robot-assisted telesurgery. Validation results obtained through experiments are presented and demonstrate the correctness and effectiveness of the developed models. The application of the setup for two RAMIS surgical tasks, a suture manipulation task and a tumor localization task, is described with different haptics modalities available through the developed haptics-enabled system for each application.

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Role of Haptic Interfaces in Robot-Assisted Minimally Invasive Surgery

International Journal of Swarm Intelligence and Evolutionary Computation ◽

10.4172/2090-4908.1000e107 ◽

2014 ◽

Vol 03 (02) ◽

Cited By ~ 1

Author(s):

Tauseef Gulrez

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Haptic Interfaces ◽

Robot Assisted

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Use of a Low-Cost Portable 3D Virtual Reality Gesture-Mediated Simulator for Training and Learning Basic Psychomotor Skills in Minimally Invasive Surgery: Development and Content Validity Study

Journal of Medical Internet Research ◽

10.2196/17491 ◽

2020 ◽

Vol 22 (7) ◽

pp. e17491 ◽

Cited By ~ 1

Author(s):

Fernando Alvarez-Lopez ◽

Marcelo Fabián Maina ◽

Francesc Saigí-Rubió

Keyword(s):

Virtual Reality ◽

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Virtual Environments ◽

Invasive Surgery ◽

Low Cost ◽

Simulator Training ◽

Validity Evidence ◽

Psychomotor Skills ◽

Likert Score

Background Simulation in virtual environments has become a new paradigm for surgeon training in minimally invasive surgery (MIS). However, this technology is expensive and difficult to access. Objective This study aims first to describe the development of a new gesture-based simulator for learning skills in MIS and, second, to establish its fidelity to the criterion and sources of content-related validity evidence. Methods For the development of the gesture-mediated simulator for MIS using virtual reality (SIMISGEST-VR), a design-based research (DBR) paradigm was adopted. For the second objective, 30 participants completed a questionnaire, with responses scored on a 5-point Likert scale. A literature review on the validity of the MIS training-VR (MIST-VR) was conducted. The study of fidelity to the criterion was rated using a 10-item questionnaire, while the sources of content-related validity evidence were assessed using 10 questions about the simulator training capacity and 6 questions about MIS tasks, and an iterative process of instrument pilot testing was performed. Results A good enough prototype of a gesture-based simulator was developed with metrics and feedback for learning psychomotor skills in MIS. As per the survey conducted to assess the fidelity to the criterion, all 30 participants felt that most aspects of the simulator were adequately realistic and that it could be used as a tool for teaching basic psychomotor skills in laparoscopic surgery (Likert score: 4.07-4.73). The sources of content-related validity evidence showed that this study’s simulator is a reliable training tool and that the exercises enable learning of the basic psychomotor skills required in MIS (Likert score: 4.28-4.67). Conclusions The development of gesture-based 3D virtual environments for training and learning basic psychomotor skills in MIS opens up a new approach to low-cost, portable simulation that allows ubiquitous learning and preoperative warm-up. Fidelity to the criterion was duly evaluated, which allowed a good enough prototype to be achieved. Content-related validity evidence for SIMISGEST-VR was also obtained.

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Sensorless Force Sensing for Minimally Invasive Surgery

Journal of Medical Devices ◽

10.1115/1.4031282 ◽

2015 ◽

Vol 9 (4) ◽

Cited By ~ 9

Author(s):

Baoliang Zhao ◽

Carl A. Nelson

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Haptic Feedback ◽

Estimation Method ◽

Tissue Reaction ◽

Limiting Factor ◽

Haptic Interfaces ◽

Force Estimation ◽

Reaction Forces

Robotic minimally invasive surgery (R-MIS) has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool–tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.

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