A shared-control approach to haptic interface design for minimally invasive telesurgical training

Abstract Practical use of medical simulation system with virtual reality technology is expected because of the learning of the operation procedure. We have therefore developed a neurosurgical simulation system for minimally invasive surgery. Our system is composed of PC and one or two haptic interfaces. Operator can pick up the region of interest to specify the disease portion from DICOM format image data, then three-dimensional model have made by volume and surface rendering with this data. In the next step, system estimates and indicates on CRT the minimally invasive path from the head surface to the disease target that was picked up beforehand by this system which retains healthy human’s three-dimensional atlas data. Finally, the operator can perform a virtual surgery operation by the haptic interface that has been connected to PC, and can cut off an exact or approximate portion of the disease. The operator can feel the resistance from this virtual object. This operation process can be recorded for medical doctors to review later.

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Design of a Haptic Arm Exoskeleton for Training and Rehabilitation

Dynamic Systems and Control, Parts A and B ◽

10.1115/imece2004-59353 ◽

2004 ◽

Cited By ~ 1

Author(s):

Abhishek Gupta ◽

Marcia K. O’Malley

Keyword(s):

Virtual Environments ◽

Interface Design ◽

Sensor Selection ◽

Haptic Interface ◽

Structural Stiffness ◽

Robot Assisted ◽

Human Arm ◽

Kinesthetic Feedback ◽

Future Work ◽

And Training

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.

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Dynamic Task Selection in Learning Arithmetic: The Role of Learner Control and Adaptation Based on a Hierarchy of Skills 1Dieser Beitrag wurde unter der geschäftsführenden Herausgeberschaft von Jens Möller angenommen

Zeitschrift für Pädagogische Psychologie ◽

10.1024/1010-0652/a000059 ◽

2012 ◽

Vol 26 (1) ◽

pp. 043-055 ◽

Cited By ~ 2

Author(s):

Wolfgang Schoppek

Keyword(s):

Cognitive Load ◽

Shared Control ◽

Computer Assisted ◽

Word Problem Solving ◽

Control Approach ◽

Dynamic Task ◽

Instructional Control ◽

Assisted Instruction ◽

Selection Of

Abstract.The effects of locus of instructional control in computer-assisted practice of arithmetic skills and word problem solving were investigated in a field experiment with 13 third grade classes. In a program-controlled condition (n = 95), the selection of practice problems was based on a hypothetical hierarchy of skills. This was expected to regulate cognitive load to a moderate level. In a condition with shared control (n = 89), subjects could select problems from a subset provided by the program. Results show that program-controlled selection of problems based on the hierarchy of skills was more successful in supporting skill development than the students’ selection. In the shared control condition, students tended to select too easy problems, regardless of their level of expertise. Both conditions with computer assisted instruction caused more progress than traditional instruction (n = 94). Ways of improving the regulation of cognitive load within a shared control approach are discussed.

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Speculation on the Neuropsychology of Teleoperation: Implications for Presence Research and Minimally Invasive Surgery

Presence Teleoperators & Virtual Environments ◽

10.1162/pres.17.2.199 ◽

2008 ◽

Vol 17 (2) ◽

pp. 199-211 ◽

Cited By ~ 7

Author(s):

Andrew N. Healey

Keyword(s):

Minimally Invasive Surgery ◽

Minimally Invasive ◽

Invasive Surgery ◽

Interface Design ◽

New Technology ◽

Human Action ◽

Task Demands ◽

Neural Basis ◽

Invasive Techniques ◽

Brain Processing

Teleoperation is now common in high-risk work domains, particularly in surgery with the extensive use of remote, minimally invasive techniques. While this new technology affords a novel means by which to control human action for surgical intervention, interface design often constrains the operator in unorthodox ways, requiring considerable adaptation and raising patient safety concerns. There is a need to objectively measure operator adaptation, evaluate varying teleoperator interface designs and assess the efficacy of the virtual reality trainers that simulate teleoperation. This paper highlights the potential for a neuroergonomic approach to these problems. It first delineates some of the task demands unique to teleoperation in minimally invasive surgery and then speculates on the neural basis of those tasks with reference to select neuropsychological literature. The integration of this literature serves to indicate that teleoperation may engage a unique pattern of brain processing and that neuropsychological measurement may therefore be useful in evaluating the design of the teleoperation interface and teleoperator adaptation.

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