Intraoperative ultrasound for improved 3D tumour reconstruction in robot‐assisted surgery: An evaluation of feedback modalities

Abstract

Background: Intraoperative ultrasound scanning induces deformation on the tissue in the absence of a feedback modality, which results in a 3D tumour reconstruction that is not directly representative of real anatomy.Methods: A biomechanical model with different feedback modalities (haptic, visual, or auditory) was implemented in a simulation environment. A user study with 20 clinicians was performed to assess which modality resulted in the 3D tumour volume reconstruction that most resembled the reference configuration from the respective computed tomography (CT) scans. Results:Integrating a feedback modality significantly improved the scanning performance across all participants and data sets. The optimal feedback modality to adopt varied depending on the evaluation. Nonetheless, using guidance with feedback is always preferred compared with none. Conclusions:The results demonstrated the urgency to integrate a feedback modality framework into clinical practice, to ensure an improved scanning performance. Furthermore, this framework enabled an evaluation that cannot be performed in vivo.

Findings Favor Haptics Feedback in Virtual Simulation Surgical Education: An Updated Systematic and Scoping Review

“…The characteristics of haptics (eg, the sense that devices or simulators provided) were not elaborated on in twenty-four studies (n = 24). Among the studies that described these details, sense of collision or touch (n = 12), 39,40,51,52,[60][61][62]70,71,75,77,85 drilling (n = 7), 49,58,59,64,78,82,83 and force changes due to interactions with different tissue types (eg, skin, adipose tissue, vessels, n = 4) 50,68,69,74 were the replicated haptic interactions. In two studies (n = 2), 47,65 haptics were used to provide guidance to participants to operate the haptic robot within a predefined path.…”

“…To replicate the multisensory nature of surgical practice, 61 in addition to haptic, reinforcement of visual information (eg, shadows of instruments, tissue deformation) was added to enhance realism (n = 19). 35,36,40,41,47,51,56,[59][60][61]64,65,67,70,71,73,77,78,86 Sound effects during collisions and drilling were also reported to enhance realism (n = 8). 49,60,71,[75][76][77]82,83 Studies Favoring Haptics (n = 34)…”

“…35,36,40,41,47,51,56,[59][60][61]64,65,67,70,71,73,77,78,86 Sound effects during collisions and drilling were also reported to enhance realism (n = 8). 49,60,71,[75][76][77]82,83 Studies Favoring Haptics (n = 34)…”

“…Following abstract and full-text screening, 51 were included for data extraction and synthesis (Figure 1). 20,35–84…”