Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study

Enayati, Nima; Okamura, Allison M.; Mariani, Andrea; Pellegrini, Edoardo; Coad, Margaret M.; Ferrigno, Giancarlo; Momi, Elena De

doi:10.1109/icra.2018.8463168

Cited by 35 publications

(23 citation statements)

References 20 publications

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“…Thus, contextual variability can foster the learning and transfer of practiced skills (Shea and Morgan, 1979;Wymbs et al, 2016). In literature, positive effects of the increased contextual variability was seen in ball throwing (Elfaqir, 1982), soccer (Williams, 1998), tennis (Hernández-Davo et al, 2014), baseball (Hall et al, 1994), and basketball (Memmert, 2006).…”

Section: Introductionmentioning

confidence: 99%

“…In recent years, developments on computer processing capabilities, and robotic systems have given rise to robot-assisted training in many fields, e.g., in rehabilitation (Marchal-Crespo and Reinkensmeyer, 2009 ), in sports simulation (Rauter et al, 2019 ) and in surgical training (Enayati et al, 2018 ). Such robotic systems used in various domains share the common purpose of supporting humans improving/acquiring new skills.…”

Section: Introductionmentioning

confidence: 99%

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Rowing Simulator Modulates Water Density to Foster Motor Learning

et al. 2019

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Although robot-assisted training is present in various fields such as sports engineering and rehabilitation, provision of training strategies that optimally support individual motor learning remains as a challenge. Literature has shown that guidance strategies are useful for beginners, while skilled trainees should benefit from challenging conditions. The Challenge Point Theory also supports this in a way that learning is dependent on the available information, which serves as a challenge to the learner. So, learning can be fostered when the optimal amount of information is given according to the trainee's skill. Even though the framework explains the importance of difficulty modulation, there are no practical guidelines for complex dynamic tasks on how to match the difficulty to the trainee's skill progress. Therefore, the goal of this study was to determine the impact on learning of a complex motor task by a modulated task difficulty scheme during the training sessions, without distorting the nature of task. In this 3-day protocol study, we compared two groups of naïve participants for learning a sweep rowing task in a highly sophisticated rowing simulator. During trainings, groups received concurrent visual feedback displaying the requested oar movement. Control group performed the task under constant difficulty in the training sessions. Experimental group's task difficulty was modulated by changing the virtual water density that generated different heaviness of the simulated water-oar interaction, which yielded practice variability. Learning was assessed in terms of spatial and velocity magnitude errors and the variability for these metrics. Results of final day tests revealed that both groups reduced their error and variability for the chosen metrics. Notably, in addition to the provision of a very well established visual feedback and knowledge of results, experimental group's variable training protocol with modulated difficulty showed a potential to be advantageous for the spatial consistency and velocity accuracy. The outcomes of training and test runs indicate that we could successfully alter the performance of the trainees by changing the density value of the virtual water. Therefore, a follow-up study is necessary to investigate how to match different density values to the skill and performance improvement of the participants.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Rowing Simulator Modulates Water Density to Foster Motor Learning

et al. 2019

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“…Robotic simulators provide an important environment for training of surgeons [39], pilots [40], motor learning of complex sports [41,42], and training of athletes for the performance improvement in real-life sports [22]. To benefit from simulator training in real-life tasks, simulators are required to realistically render the task aspects [43,44].…”

Section: Discussionmentioning

confidence: 99%

Configurable 3D Rowing Model Renders Realistic Forces on a Simulator for Indoor Training

et al. 2020

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In rowing, rowers need outdoor and indoor training to develop a proficient technique. Although numerous indoor rowing machines have been proposed, none of the devices can realistically render the haptic, visual, and auditory characteristics of an actual rowing scenario. In our laboratory, we developed a simulator to support rowing training indoors. However, rendered forces with the initial rowing model, which was based on a simplified fluid dynamic model that approximated the drag/lift forces, were not perceived realistic enough for indoor training by expert rowers. Therefore, we implemented a new model for the blade–water interaction forces, which incorporates the three-dimensional rotation of the oar and continuously adjusts drag/lift coefficients. Ten expert rowers were asked to evaluate both models for various rowing aspects. In addition, the effect of individualization of model parameters on the perceived realism of rowing forces was elaborated. Based on the answers of the experts, we concluded that the new model rendered realistically resistive forces and ensured a smooth transition of forces within a rowing cycle. Additionally, we found that individualization of parameters significantly improved the perceived realism of the simulator. Equipped with a configurable rowing model, our simulator provides a realistic indoor training platform for rowers.

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“…Out of the surgical field, Rauter et al studied training by means of a robotic rowing simulator and they introduced an automated selection of the feedback type to incorporate human expertise in the learning process [34]. Enayati et al addressed this topic by analyzing the application of an assistance-asneeded haptic feedback during training: this guidance was able to optimize the learning of some performance metrics (such as time) in the field of robotic surgery [35]. In this work, we address the modulation of the training curriculum.…”

Section: Introductionmentioning

confidence: 99%

Skill-Oriented and Performance-Driven Adaptive Curricula for Training in Robot-Assisted Surgery Using Simulators: A Feasibility Study

Mariani

Pellegrini

Momi

2021

IEEE Trans. Biomed. Eng.

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Objective: Virtual Reality (VR) simulators represent a remarkable educational opportunity in order to acquire and refine surgical practical skills. Nevertheless, there exists no consensus regarding a standard curriculum of simulation-based training. This study introduces an automatic, adaptive curriculum where the training session is real-time scheduled on the basis of the trainee's performances. Methods: An experimental study using the master console of the da Vinci Research Kit (Intuitive Surgical Inc., Sunnyvale, US) was carried out to test this approach. Tasks involving fundamental skills of robotic surgery were designed and simulated in VR. Twelve participants without medical background along with twelve medical residents were randomly and equally divided into two groups: a control group, self-managing the training session, and an experimental group, undergoing the proposed adaptive training. Results: The performances of the experimental users were significantly better with respect to the ones of the control group after training (non-medical: p < 0.01; medical: p = 0.02). This trend was analogous in the non-medical and medical populations and no significant difference was identified between these two classes (even in the baseline assessment). Conclusion: The analysis of the learning of the involved surgical skills highlighted how the proposed adaptive training managed to better identify and compensate for the trainee's gaps. The absence of initial difference between the non-medical and medical users underlines that robotic surgical devices require specific training before clinical practice. Significance: This feasibility study could pave the way towards the improvement of simulation-based training curricula.

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Robotic Assistance-as-Needed for Enhanced Visuomotor Learning in Surgical Robotics Training: An Experimental Study

Cited by 35 publications

References 20 publications

Rowing Simulator Modulates Water Density to Foster Motor Learning

Rowing Simulator Modulates Water Density to Foster Motor Learning

Configurable 3D Rowing Model Renders Realistic Forces on a Simulator for Indoor Training

Skill-Oriented and Performance-Driven Adaptive Curricula for Training in Robot-Assisted Surgery Using Simulators: A Feasibility Study

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