Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator
Joint Authors
Li, Xiao
Alemzadeh, Homa
Chen, Daniel
Kalbarczyk, Zbigniew
Iyer, Ravishankar K.
Kesavadas, Thenkurussi
Source
Journal of Healthcare Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-08-03
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
This work presents a software and hardware framework for a telerobotic surgery safety and motor skill training simulator.
The aims are at providing trainees a comprehensive simulator for acquiring essential skills to perform telerobotic surgery.
Existing commercial robotic surgery simulators lack features for safety training and optimal motion planning, which are critical factors in ensuring patient safety and efficiency in operation.
In this work, we propose a hardware-in-the-loop simulator directly introducing these two features.
The proposed simulator is built upon the Raven-II™ open source surgical robot, integrated with a physics engine and a safety hazard injection engine.
Also, a Fast Marching Tree-based motion planning algorithm is used to help trainee learn the optimal instrument motion patterns.
The main contributions of this work are (1) reproducing safety hazards events, related to da Vinci™ system, reported to the FDA MAUDE database, with a novel haptic feedback strategy to provide feedback to the operator when the underlying dynamics differ from the real robot’s states so that the operator will be aware and can mitigate the negative impact of the safety-critical events, and (2) using motion planner to generate semioptimal path in an interactive robotic surgery training environment.
American Psychological Association (APA)
Li, Xiao& Alemzadeh, Homa& Chen, Daniel& Kalbarczyk, Zbigniew& Iyer, Ravishankar K.& Kesavadas, Thenkurussi. 2017. Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator. Journal of Healthcare Engineering،Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1181157
Modern Language Association (MLA)
Li, Xiao…[et al.]. Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator. Journal of Healthcare Engineering No. 2017 (2017), pp.1-13.
https://search.emarefa.net/detail/BIM-1181157
American Medical Association (AMA)
Li, Xiao& Alemzadeh, Homa& Chen, Daniel& Kalbarczyk, Zbigniew& Iyer, Ravishankar K.& Kesavadas, Thenkurussi. Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator. Journal of Healthcare Engineering. 2017. Vol. 2017, no. 2017, pp.1-13.
https://search.emarefa.net/detail/BIM-1181157
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1181157