Visual Haptic Feedback for Training of Robotic Suturing

Jourdes, François; Valentin, Brice; Allard, Jérémie; Duriez, Christian; Seeliger, Barbara

doi:10.3389/frobt.2022.800232

Cited by 11 publications

(5 citation statements)

References 38 publications

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“…The Suture-Assist device is the only known training tool to facilitate proper needle orientation and real-time feedback of tissue topography in laparoscopic suturing. [21][22][23] The design principles are unique in that they take advantage of haptic and visual feedback via 3Dprinted elements.…”

Section: Discussionmentioning

confidence: 99%

Laparoscopic training instruments designed to provide real-time feedback for surgical trainees

Chandra,

Cox,

Fardi

et al. 2023

J Surg Simul

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Background: We describe the development and preliminary prototype testing of 'smart' real-time feedback systems for four laparoscopic instruments. These provided trainees learning percutaneous needle insertion, trocar insertion, use of laparoscopic forceps, and laparoscopic suturing with increased force, haptic, and visual feedback. Each prototype was assessed to determine whether it had met the design goals of providing real-time feedback, maintaining true-to-life handling of the instruments, and offering educational benefit. Methods: The Smart-Needle utilized a laser-diode and 3D-printed housing to transilluminate tissue, allowing for intraperitoneal visualization of an insertion site. The Smart-Trocar utilized a microcontroller to process and report applied forces, angle of advancement, and tissue impedance measured by load-cells. The Smart-Forceps utilized a microcontroller to process and report the grip force, tensile force, and transverse load applied to a laparoscopic grasper. The Suture-Assist device utilized a retractable silicone tip to provide greater haptic and visual feedback during intracorporeal suturing. Pilot studies were conducted to assess each device's functionality, technical benefit, and training enhancement. Results: All prototype feedback systems met the design goals of providing objective and accurate real-time feedback and maintenance of true-to-life handling of the base instrument. Preliminary evaluations of each prototype by expert educators and surgical trainees found that the feedback systems offered increased educational benefit during simulation practice. Conclusion: We designed and developed novel surgical training tools to provide enhanced real-time feedback for surgical trainees. All four prototypes met our development goals of fidelity maintenance and continuous feedback.

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Section: Discussionmentioning

confidence: 99%

Laparoscopic training instruments designed to provide real-time feedback for surgical trainees

Chandra,

Cox,

Fardi

et al. 2023

J Surg Simul

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“…In addition, the relevance of haptic feedback in robot-assisted performances of surgical tasks is yet to be proved. It has been hypothesized that visual feedback of local tissue deformation caused by tension, retraction, or needle insertion can compensate for the lack of sensory force feedback [20]. The 3-D display system can provide this high-definition visual feedback, but further improvement is required in this aspect.…”

Section: A 3-d Visual Feedback Systemmentioning

confidence: 99%

Telesurgery and Robotics: Current Status and Future Perspectives

Singh¹,

Sharma²,

Joshua³

et al. 2023

Biomedical Engineering

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The concept of telehealth has revolutionized the healthcare delivery system. Based on this concept, telesurgery has emerged as a promising and feasible option, providing surgical care to remotely located patients. This has become possible by advancements in the robotic system combined with the cutting-edge technology of telecommunication. Since the ability to perform telepresence surgery was hypothesized, consistent development and research in this novel area have led to the beginning of telesurgical care, which can fulfill the demand for surgical care in remote locations. In addition to the benefits of robotic-assisted minimally invasive surgery, telesurgery eliminates geographical barriers, which helps patients have better access to quality surgical care. It may reduce the overall financial burden by eliminating the travel expense of the patients, providing expertise through the telepresence of experienced surgeons, and reducing the operating room personnel. The telesurgical approach is also being utilized for telementoring, i.e., real-time guidance and technical assistance in surgical procedures by highly skilled surgeons. Despite the numerous technological improvements in telesurgery, its widespread implementation in clinical setting still lags, mandating the identification of the offending factors that limit its clinical translation.

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“…This method, first presented for SOFA in [17], relies on a representation based on three-dimensionnal Timoschenko beam theory [18] and a specific corotational formulation to account for large displacements [19,20]. It is implemented within the BeamAdapter 4 plugin of the SOFA framework.…”

Section: Fem Model Of Beams In Sofamentioning

confidence: 99%

FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

Moussa

Coevoet

Duriez

et al. 2023

Mechanisms and Machine Science

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Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a complex task, and therefore their trajectory planning and control are challenging. Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large. This paper presents a CDPR dynamic model taking into account cable elasticity and sagging, and its implementation within an open-source framework, named SOFA. Finally, the simulation results are compared to experiments conducted on a suspended CDPR.

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Visual Haptic Feedback for Training of Robotic Suturing

Cited by 11 publications

References 38 publications

Laparoscopic training instruments designed to provide real-time feedback for surgical trainees

Laparoscopic training instruments designed to provide real-time feedback for surgical trainees

Telesurgery and Robotics: Current Status and Future Perspectives

FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

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