Minimally invasive surgery training using multiple port sites to improve performance

White, Alan; Giles, Oscar; Sutherland, R. J.; Ziff, Oliver J.; Mon-Williams, Mark; Wilkie, Richard M.; Lodge, J.P.A.

doi:10.1007/s00464-013-3307-7

Cited by 10 publications

(8 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The current findings demonstrate that extrinsic variability delivered through haptic disturbance can, in the same vein, augment learning by increasing the amount of information sampled by the learner. The general notion that increased exposure to information can lead to faster learning is well explained by theories of structural learning and has good support from a range of empirical studies [19,20,[41][42][43][44] including investigations of laparoscopic surgical training [45]. Our extension to these ideas is that learning of the structure can be directly related to the amount of information available to the learner.…”

Section: Plos Onementioning

confidence: 80%

Exploring disturbance as a force for good in motor learning

et al. 2020

Self Cite

View full text Add to dashboard Cite

Disturbance forces facilitate motor learning, but theoretical explanations for this counterintuitive phenomenon are lacking. Smooth arm movements require predictions (inference) about the force-field associated with a workspace. The Free Energy Principle (FEP) suggests that such 'active inference' is driven by 'surprise'. We used these insights to create a formal model that explains why disturbance might help learning. In two experiments, participants undertook a continuous tracking task where they learned how to move their arm in different directions through a novel 3D force field. We compared baseline performance before and after exposure to the novel field to quantify learning. In Experiment 1, the exposure phases (but not the baseline measures) were delivered under three different conditions: (i) robot haptic assistance; (ii) no guidance; (iii) robot haptic disturbance. The disturbance group showed the best learning as our model predicted. Experiment 2 further tested our FEP inspired model. Assistive and/or disturbance forces were applied as a function of performance (low surprise), and compared to a random error manipulation (high surprise). The random group showed the most improvement as predicted by the model. Thus, motor learning can be conceptualised as a process of entropy reduction. Short term motor strategies (e.g. global impedance) can mitigate unexpected perturbations, but continuous movements require active inference about external force-fields in order to create accurate internal models of the external world (motor learning). Our findings reconcile research on the relationship between noise, variability, and motor learning, and show that information is the currency of motor learning.

show abstract

Section: Plos Onementioning

confidence: 80%

Exploring disturbance as a force for good in motor learning

et al. 2020

Self Cite

View full text Add to dashboard Cite

show abstract

“…The current findings 655 demonstrate that extrinsic variability delivered through haptic disturbance can, in the 656 same vein, augment learning by increasing the amount of information sampled by the 657 learner. The general notion that increased exposure to information can lead to faster 658 learning is well explained by theories of structural learning and has good support 659 from a range of empirical studies [18,19,[40][41][42][43] including investigations of 660 laparoscopic surgical training [44]. Our extension to these ideas is that learning of the 661 structure can be directly related to the amount of information available to the learner.…”

mentioning

confidence: 82%

“…Short term motor strategies (e.g. global impedance) can mitigate 44 unexpected perturbations, but continuous movements require active inference about 45 external force-fields in order to create accurate internal models of the external world 46 (motor learning). Our findings reconcile research on the relationship between noise, variability, and motor learning, and show that information is the currency of motor Introduction 50 Neonates must determine the complex relationship between perceptual 51 outcomes and motor signals in order to learn how to move their arms effectively.…”

mentioning

confidence: 99%

Exploring Disturbance as a Force for Good in Motor Learning

Brookes

Mushtaq

Jamieson

et al. 2019

Preprint

Self Cite

View full text Add to dashboard Cite

24 Number of pages: 36 25 Number of Figs: 8 26 Total number of words: 9380 65 removed [3-8]. However, formalised theoretical explanations that can account for 66 these counterintuitive phenomena have proven elusive [9]. This is disappointing 67 because it remains unclear how robotic devices might be best optimised in order to 68 enhance learning (beyond this binary observation of differences between assisting 69 and disturbing forces). The lack of a theoretical framework also makes it difficult to 70 explain formally why assistive forces can be beneficial for individuals with 71 neurological impairment [10], and the absence of a framework is hindering the 72 potential utility of robotic technology in motor training. We propose that a 'Shannon' 73 information theory perspective [11,12] could provide a principled approach to 74 understanding why disruptive forces can be beneficial, and such an account could 75 ultimately inform the development of haptic interventions.

show abstract

“…Robot-assisted minimally invasive surgery (RMIS) has had a revolutionary impact on surgery, having the ability to satisfy the requirements of higher precision and dexterity for surgery operations. In traditional minimally invasive surgery (MIS), a surgeon holds instruments to perform a surgical operation [ 1 ]. In RMIS, the instrument is operated by a robot manipulator to penetrate the patient’s body and perform surgical operations (e.g., cutting, tying, and suturing) [ 2 , 3 ].…”

Section: Introductionmentioning

confidence: 99%

New remote centre of motion mechanism for robot-assisted minimally invasive surgery

et al. 2018

View full text Add to dashboard Cite

BackgroundRobot-assisted minimally invasive surgery (RMIS) is promising for improving surgical accuracy and dexterity. As the end effector of the robotic arm, the remote centre of motion mechanism is one of the requisite terms for guaranteeing patient safety. The existing remote centre of motion mechanisms are complex and large in volume, as well as high assembly requirement and unsatisfactory precise. This paper aimed to present a new remote centre of motion mechanism for solving these problems.MethodsA new mechanism based on the RMIS requirements is proposed for holding the laparoscope and generating a remote centre of motion for the laparoscope. The mechanism kinematics is then analysed from the perspective of the structural function, and its inverse kinematics is determined with a small number of calculations. Finally, the position deviation of the laparoscope rotational point is chosen as the index to evaluate the mechanism performance. The experiments are performed to test the deviation.ResultsThe position deviations of the laparoscope rotational point do not exceed 2 mm, which is lower than that of the existing remote centre of motion mechanism. The 2 mm positioning error of the laparoscope won’t affect surgeon observation of the surgical field, and the pressure caused by the positioning error was acceptable for the skin elasticity. The proposed mechanism meets the RMIS requirement.ConclusionsThe proposed mechanism can achieve the remote centre of motion for the laparoscope. Its simple and compact structure is beneficial to avoid the collision of robotic arms, and it can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.

show abstract

Minimally invasive surgery training using multiple port sites to improve performance

Abstract: Background: Structural learning theory suggests that experiencing motor task

Cited by 10 publications

References 26 publications

Exploring disturbance as a force for good in motor learning

Exploring disturbance as a force for good in motor learning

Exploring Disturbance as a Force for Good in Motor Learning

New remote centre of motion mechanism for robot-assisted minimally invasive surgery

Contact Info

Product

Resources

About