Image display technology and image processing

A study of the prevalence of musculoskeletal disorders in surgeons performing minimally invasive surgery

INTRODUCTION

Minimally invasive surgery (MIS) has shown significant benefits for patients and healthcare systems. However, due to the poor ergonomic adaptation of operating rooms and surgical instruments, most surgeons suffer from pain caused by musculoskeletal disorders (MSDs).

METHODS

A descriptive survey on MIS surgeons working in different surgical specialties has been carried out in Hospital Valdecilla (Spain). The aim is to determine the prevalence of MSDs using a personal interview and the standardized Nordic questionnaire. The study determines the prevalence of MSDs in different parts of the body and their relationship with epidemiological and labor variables. A questionnaire was filled out by 129 surgeons.

RESULTS

90% of surgeons reported MSDs. The higher prevalence appears in the most experienced surgeons. The most affected zones are the lower back (54%), neck (51%), upper back (44%), lower extremities (42%), right shoulder (29%) and right hand (28%).

CONCLUSIONS

The prevalence of MSDs is higher in MIS surgeons than in any other occupational group. The most vulnerable group is experienced surgeons and there is a potential risk that symptoms will be increased in the future. Muscle strength is revealed as a protective factor against MSDs.

A feasibility study of the use of computed virtual chromoendoscopy for laparoscopic evaluation of peritoneal metastases

BACKGROUND

Detection of an incipient peritoneal carcinomatosis (PC) is still challenging, and there is a crucial need for technological improvements in order to diagnose and to treat early this condition. Fujinon Intelligent Chromo Endoscopy (FICE) is a spectral image processing technology that enhances the contrast of the target tissue. The aim of this study is to investigate the usefulness of FICE system during peritoneal endoscopy and to establish the optimal FICE preset(s) for peritoneal exploration and PC detection.

METHODS

A total of 561 images corresponding to 51 different areas of PC nodules and normal peritoneum were recorded during peritoneal endoscopies (For each area, one white light endoscopy (WLE) image and 10 FICE images). Three groups of 5 evaluators each: senior surgeons, surgical residents and medical students assessed these images. In a first questionnaire, the evaluators gave a score ranging from 1 to 10 to each image, and the three best FICE channels were determined. In a second questionnaire, five criteria were studied specifically: contrast, brightness, vascular architecture, differentiation between organs and detection of PC. The evaluators ranked the WLE and the three best FICE channel images according to these criteria.

RESULTS

The three best FICE channels were channels 6, 2 and 9 with mean scores of 6.21 ± 1.59, 6.17 ± 1.48 and 6.06 ± 1.52, respectively. FICE Channel 2 was superior to WLE and other FICE channels, in terms of contrast (p < 10^-4), visualization of vascular architecture (p < 10^-4), differentiation between organs (p < 10^-4) and detection of PC (p < 10^-4); and ranked first in 38.8, 41.5, 31 and 46.9 % of the cases, respectively.

CONCLUSION

FICE system provides adequate illumination of the abdominal cavity and a unique contrast that enhances the vascular architecture. FICE Channel 2 is the optimal channel for peritoneal exploration and could be a useful tool for the diagnosis of PC during peritoneal explorations.

Depth Perception of Surgeons in Minimally Invasive Surgery

Minimally invasive surgery (MIS) poses visual challenges to the surgeons. In MIS, binocular disparity is not freely available for surgeons, who are required to mentally rebuild the 3-dimensional (3D) patient anatomy from a limited number of monoscopic visual cues. The insufficient depth cues from the MIS environment could cause surgeons to misjudge spatial depth, which could lead to performance errors thus jeopardizing patient safety. In this article, we will first discuss the natural human depth perception by exploring the main depth cues available for surgeons in open procedures. Subsequently, we will reveal what depth cues are lost in MIS and how surgeons compensate for the incomplete depth presentation. Next, we will further expand our knowledge by exploring some of the available solutions for improving depth presentation to surgeons. Here we will review the innovative approaches (multiple 2D camera assembly, shadow introduction) and devices (3D monitors, head-mounted devices, and auto-stereoscopic monitors) for 3D image presentation from the past few years.

Improving performance under mirror-image conditions during laparoscopic surgery using the Broadview camera system

INTRODUCTION

Under mirror-image conditions, surgeons often become confused and their task performance may deteriorate. This study aimed to quantitatively investigate the difficulty of performing laparoscopic surgery based on a mirror image and to find methods to improve performance under these conditions.

METHODS

Twelve medical students with no prior endoscopic surgical experience and 10 surgical residents, each with over 50 laparoscopic surgery experiences, participated in this study. Three measures were assessed using the Hiroshima University Endoscopic Surgical Assessment Device: the deviation with integrated time, the approaching time, and the peak velocity. The scope was placed at 0° (coaxial position), 180° (mirror-image condition), and 180° using the Broadview camera system. Each participant performed the Hiroshima University Endoscopic Surgical Assessment Device task 10 times.

RESULTS

The deviation with integrated time, the approaching time, and the peak velocity were better for surgical residents than for novices at 0° (P < 0.001, P = 0.001, P = 0.011). The deviation with integrated time, the approaching time, and the peak velocity at 180° were significantly worse than the corresponding values at 0° (P < 0.0001) for both surgical residents and novices. All three types of Hiroshima University Endoscopic Surgical Assessment Device assessment at 180° were significantly better when the Broadview camera system was used than when it was not (P < 0.0001).

CONCLUSION

This study showed quantitatively the difficulty in manipulating laparoscopic instruments in mirror-image conditions. Using the Broadview camera system improved surgeons' performance under mirror-image conditions during laparoscopic surgery.

Evaluation of different distortion correction methods and interpolation techniques for an automated classification of celiac disease

Due to the optics used in endoscopes, a typical degradation observed in endoscopic images are barrel-type distortions. In this work we investigate the impact of methods used to correct such distortions in images on the classification accuracy in the context of automated celiac disease classification. For this purpose we compare various different distortion correction methods and apply them to endoscopic images, which are subsequently classified. Since the interpolation used in such methods is also assumed to have an influence on the resulting classification accuracies, we also investigate different interpolation methods and their impact on the classification performance. In order to be able to make solid statements about the benefit of distortion correction we use various different feature extraction methods used to obtain features for the classification. Our experiments show that it is not possible to make a clear statement about the usefulness of distortion correction methods in the context of an automated diagnosis of celiac disease. This is mainly due to the fact that an eventual benefit of distortion correction highly depends on the feature extraction method used for the classification.

The impact of visual scanning in the laparoscopic environment after engaging in strain coping

OBJECTIVE

We aimed to determine whether visual scanning has a detrimental impact on the monitoring of critical signals and the performance of a concurrent laparoscopic training task after participants engaged in Hockey's strain coping. Strain coping refers to straining cognitive (attentional) resources joined with latent decrements (i.e., stress).

BACKGROUND

DeLucia and Betts (2008) reported that monitoring critical signals degraded performance of a laparoscopic peg-reversal task compared with no monitoring. However, performance did not differ between displays in which critical signals were shown on split screens (less visual scanning) and separated displays (more visual scanning). We hypothesized that effects of scanning may occur after prolonged strain coping.

METHOD

Using a between-subjects design, we had undergraduates perform a laparoscopic training task that induced strain coping. Then they performed a laparoscopic peg-reversal task while monitoring critical signals with a split-screen or separated display. We administered the NASA-Task Load Index (TLX) and Dundee Stress State Questionnaire (DSSQ) to assess strain coping.

RESULTS

The TLX and DSSQ profiles indicated that participants engaged in strain coping. Monitoring critical signals resulted in slowed peg-reversal performance compared with no monitoring. Separated displays degraded critical-signal monitoring compared with split-screen displays.

CONCLUSION

After novice observers experience strain coping, visual scanning can impair the detection of critical signals.

APPLICATION

Results suggest that the design and arrangement of displays in the operating room must incorporate the attentional limitations of the surgeon. Designs that induce visual scanning may impair monitoring of critical information at least in novices. Presenting displays closely in space may be beneficial.

Individualized image display improves performance in laparoscopic surgery

BACKGROUND

Laparoscopic surgery has made great advances over the years, but it is still dependent on a single viewpoint. This single-lens system impedes multitasking and may provide suboptimal views of the operative field. We have previously developed a prototype of interactive laparoscopic image display to enable individualized manipulation of the displayed image by each member of the operating team. The current study examines whether the concept of individualized image display improves performance during laparoscopic surgery.

MATERIALS AND METHODS

Individualized display of the endoscopic image was implemented in vitro using two cameras, independently manipulated by each operator, in a Fundamental of Laparoscopic Surgery (Society of American Gastrointestinal and Endoscopic Surgeons) endotrainer model. The standardized bead transfer and endoloop tasks were adapted to a two-operator exercise. Each team of two was paired by experience level (novice or expert) and was timed twice: once while using a single camera (control) and once using two cameras (individualized image).

RESULTS

In total, 20 medical students, residents, and attending surgeons were paired in various combinations. Bead transfer times for the individualized image experiment were significantly shorter in the expert group (61.8 ± 14.8% of control, P=.002). Endoloop task performance time was significantly decreased in both novices (80.3 ± 44.4%, P=.04) and experts (69.5 ± 12.9%, P=.001) using the two-camera set-up.

CONCLUSIONS

Many advances in laparoscopic image display have led to an incremental improvement in performance. They have been most beneficial to novices, as experts have learned to overcome the shortcomings of laparoscopy. Using a validated tool of laparoscopic training, we have shown that efficiency is improved with the use of an individualized image display and that this effect is more pronounced in experts. The concept of individual image manipulation and display will be further developed into a hands-free, intuitive system and must be validated in a clinical setting.

Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence

The paper presents a new design of a stereo endoscope for minimally invasive surgery with: cameras positioned at the tip of the instrument (inside the patient), angle of convergence of the optical axes of the cameras variable continuously, and a foldable mechanism reducing the outer diameter of the endoscope to almost the diameter of the single camera in order to reduce the size of the insertion port. After the insertion the endoscope is deployed and the two cameras move side by side. A very simple compliant mechanism is used to drive the deployment and the adjustment of the convergence angle.

Action and attentional load can influence aperture effects on motion perception

When a moving featureless contour is viewed through a stationary circular aperture that occludes the contour's endpoints and the contour moves in a direction non-parallel to its orientation, observers report the contour's direction of motion as perpendicular to the contour's orientation regardless of its actual direction. In typical studies of this aperture effect on motion perception, observers made perceptual judgments of the line's motion. The aperture effect was not measured when observers actively controlled the line's motion. In addition, effects of attentional load on the aperture effect were not measured. Here, we demonstrated that attentional load influenced the aperture effect. Active control reduced the aperture effect, but did not eliminate it. Results have theoretical implications for motion perception and practical implications for the design of technologies that limit an observer's field-of-view such as surgical cameras.

Reverse alignment "mirror image" visualization as a laparoscopic training tool improves task performance

Reverse alignment (mirror image) visualization is a disconcerting situation occasionally faced during laparoscopic operations. This occurs when the camera faces back at the surgeon in the opposite direction from which the surgeon's body and instruments are facing. Most surgeons will attempt to optimize trocar and camera placement to avoid this situation. The authors' objective was to determine whether the intentional use of reverse alignment visualization during laparoscopic training would improve performance. A standard box trainer was configured for reverse alignment, and 34 medical students and junior surgical residents were randomized to train with either forward alignment (DIRECT) or reverse alignment (MIRROR) visualization. Enrollees were tested on both modalities before and after a 4-week structured training program specific to their modality. Student's t test was used to determine differences in task performance between the 2 groups. Twenty-one participants completed the study (10 DIRECT, 11 MIRROR). There were no significant differences in performance time between DIRECT or MIRROR participants during forward or reverse alignment initial testing. At final testing, DIRECT participants had improved times only in forward alignment performance; they demonstrated no significant improvement in reverse alignment performance. MIRROR participants had significant time improvement in both forward and reverse alignment performance at final testing. Reverse alignment imaging for laparoscopic training improves task performance for both reverse alignment and forward alignment tasks. This may be translated into improved performance in the operating room when faced with reverse alignment situations. Minimal lab training can account for drastic adaptation to this environment.

Visual enhancement of laparoscopic partial nephrectomy with 3-charge coupled device camera: assessing intraoperative tissue perfusion and vascular anatomy by visible hemoglobin spectral response

PURPOSE

We report the novel use of 3-charge coupled device camera technology to infer tissue oxygenation. The technique can aid surgeons to reliably differentiate vascular structures and noninvasively assess laparoscopic intraoperative changes in renal tissue perfusion during and after warm ischemia.

MATERIALS AND METHODS

We analyzed select digital video images from 10 laparoscopic partial nephrectomies for their individual 3-charge coupled device response. We enhanced surgical images by subtracting the red charge coupled device response from the blue response and overlaying the calculated image on the original image. Mean intensity values for regions of interest were compared and used to differentiate arterial and venous vasculature, and ischemic and nonischemic renal parenchyma.

RESULTS

The 3-charge coupled device enhanced images clearly delineated the vessels in all cases. Arteries were indicated by an intense red color while veins were shown in blue. Differences in mean region of interest intensity values for arteries and veins were statistically significant (p >0.0001). Three-charge coupled device analysis of pre-clamp and post-clamp renal images revealed visible, dramatic color enhancement for ischemic vs nonischemic kidneys. Differences in the mean region of interest intensity values were also significant (p <0.05).

CONCLUSIONS

We present a simple use of conventional 3-charge coupled device camera technology in a way that may provide urological surgeons with the ability to reliably distinguish vascular structures during hilar dissection, and detect and monitor changes in renal tissue perfusion during and after warm ischemia.

Do basic psychomotor skills transfer between different image-based procedures?

Background

Surgical techniques that draw from multiple types of image-based procedures (IBP) are increasing, such as Natural Orifice Transluminal Endoscopic Surgery, fusing laparoscopy and flexible endoscopy. However, little is known about the relation between psychomotor skills for performing different types of IBP. For example, do basic psychomotor colonoscopy and laparoscopy skills interact?

Methods

Following a cross-over study design, 29 naïve endoscopists were trained on the Simbionix GI Mentor and the SimSurgery SEP simulators. Group C (n = 15) commenced with a laparoscopy session, followed by four colonoscopy sessions and a second laparoscopy session. Group L (n = 14) started with a colonoscopy session, followed by four laparoscopy sessions and a second colonoscopy session.

Results

No significant differences were found between the performances of group L and group C in their first training sessions on either technique. With additional colonoscopy training, group C outperformed group L in the second laparoscopy training session on the camera navigation task.

Conclusions

Overall, training in the basic colonoscopy tasks does not affect performance of basic laparoscopy tasks (and vice versa). However, to limited extent, training of basic psychomotor skills for colonoscopy do appear to contribute to the performance of angled laparoscope navigation tasks. Thus, training and assessment of IBP type-specific skills should focus on each type of tasks independently. Future research should further investigate the influence of psychometric abilities on the performance of IBP and the transfer of skills for physicians who are experienced in one IBP type and would like to become proficient in another type of IBP.

Head-motion-controlled video goggles: preliminary concept for an interactive laparoscopic image display (i-LID)

BACKGROUND

Light-weight, low-profile, and high-resolution head-mounted displays (HMDs) now allow personalized viewing, of a laparoscopic image. The advantages include unobstructed viewing, regardless of position at the operating table, and the possibility to customize the image (i.e., enhanced reality, picture-in-picture, etc.). The bright image display allows use in daylight surroundings and the low profile of the HMD provides adequate peripheral vision. Theoretic disadvantages include reliance for all on the same image capture and anticues (i.e., reality disconnect) when the projected image remains static, despite changes in head position. This can lead to discomfort and even nausea.

MATERIALS AND METHODS

We have developed a prototype of interactive laparoscopic image display that allows hands-free control of the displayed image by changes in spatial orientation of the operator's head. The prototype consists of an HMD, a spatial orientation device, and computer software to enable hands-free panning and zooming of a video-endoscopic image display. The spatial orientation device uses magnetic fields created by a transmitter and receiver, each containing three orthogonal coils. The transmitter coils are efficiently driven, using USB power only, by a newly developed circuit, each at a unique frequency. The HMD-mounted receiver system links to a commercially available PC-interface PCI-bus sound card (M-Audiocard Delta 44; Avid Technology, Tewksbury, MA). Analog signals at the receiver are filtered, amplified, and converted to digital signals, which are processed to control the image display.

RESULTS

The prototype uses a proprietary static fish-eye lens and software for the distortion-free reconstitution of any portion of the captured image. Left-right and up-down motions of the head (and HMD) produce real-time panning of the displayed image. Motion of the head toward, or away from, the transmitter causes real-time zooming in or out, respectively, of the displayed image.

CONCLUSIONS

This prototype of the interactive HMD allows hands-free, intuitive control of the laparoscopic field, independent of the captured image.

Surgical performance with head-mounted displays in laparoscopic surgery

INTRODUCTION

The difficulties of laparoscopic surgery include two-dimensional image projection and loss of alignment between the surgeon's hands and visual field. Head-mounted displays (HMDs) allow freedom from gazing at a stationary overhead monitor, thus improving ergonomics. Modern HMDs offer greatly improved image quality and reduced bulk and weight. We compared two types of HMDs with conventional overhead image display.

MATERIALS AND METHODS

Twelve preclinical medical students (i.e., laparoscopic novices) completed the standardized bead-passing task in a Fundamentals of Laparoscopic Surgery box trainer, using a wall-mounted monitor(WALL), a solid-state high-resolution dual full-visual graphic array (VGA) HMD (HIGH-HMD), or a lightweight commercial 1/4 VGA HMD (LOW-HMD). Participants performed each task by using the three image displays. The order in which they performed each test was randomly assigned to minimize the carryover effect.Students were then asked to grade comfort and image quality on a scale from 1 (worst) to 5 (best). Statistical comparison of the time per bead was performed with the Kruskal-Wallis test, and P < 0.05 was considered significant.

RESULTS

Average time per bead (total beads = 12/participant/test) was 14.2 seconds for WALL, 13.2 seconds for LOW-HMD, and 12.5 seconds for HIGH-HMD (P 0.05). The comfort ratings were 3.67 +/- 0.82, 3.50 +/- 1.38,and 3.83 +/- 0.75, respectively, and image quality was rated as 3.00 +/- 0.63, 2.83 +/- 1.47 and 4.67 +/- 0.52, respectively.

CONCLUSIONS

The high-resolution HMD offered significantly better image quality and allowed faster task performance than a lower resolution model of HMD, and both performed better than the overhead display. The high-resolution HMD was not significantly more comfortable than the low-resolution model, given its added weight. HMDs alone may only be of incremental benefit in improving performance in laparoscopic surgery.However, their greatest promise is in their combination with other advances in imaging and image manipulation technology, as they open the door to individualized image display.

New Technology for Imaging and Documenting Urologic Procedures

Recent advances in fiber optics and digital technology have dramatically improved the ability of the urologic surgeon to accurately image and document endoscopic and laparoscopic procedures. In addition, the development of digital endoscopes has expanded the armamentarium of the endoscopic surgeon greatly. Finally, new virtual reality technology has allowed increased visualization during surgery and provides excellent training for surgeons. This article details new imaging and documentation technology currently utilized during urologic procedures.

Skill performance in open videoscopic surgery

INTRODUCTION

Application of minimally invasive surgery represents the future of modern surgical care. Previous studies by our group provided a novel way for viewing open surgery using a rigid endoscope attached to charged coupled device (CCD) camera in proximity to the surgical field using a robotic arm (AESOP) and a stabilizing fulcrum (Alpha port).

MATERIALS AND METHODS

This study is a follow-up to investigate the technical feasibility, advantages, and disadvantages of relying only on video images displayed on standard monitors in performing open surgical procedures instead of direct binocular eye vision. This study used two surgeons as participants with training in basic surgical skill and previous experience in performing an intestinal anastomosis in an ordinary fashion. The standard task consisted of anastomosing porcine intestine in two layers with digital viewing of the operative field. A total of 40 anastomoses (20 by each surgeon) were compared with 10 control performances using direct vision of the field.

RESULTS

All the resulting anastomoses were accurate, well coapted, and fully patent with no leakage. Time for task performance was approximately twice as long (p < 0.05) with videoscopic vision as with direct vision.

DISCUSSION

These findings suggest it is technically feasible to conduct open surgeries with visualization of the open surgical field limited to video display on standard monitors.

Design of functional simulation of renal cancer in virtual reality environments

OBJECTIVES

The preoperative planning of partial nephrectomy can be facilitated by the ability to view the tumor and surrounding tissue in three-dimensional (3D) virtual reality (VR). A technique to convert Digital Imaging and Communications in Medicine computed tomography scan data into a fully 3D VR environment was developed. The model can be transferred to a personal computer, allowing the surgeon to view the 3D model in the operating room.

METHODS

Computed tomography data from a patient with multifocal renal masses was converted into a 3D polygonal mesh using Amira running on a desktop personal computer with Windows XP Professional. A Silicon Graphics Monster Onyx2 running the Linux operating system was used to view the 3D stereo model in the VR environments: either the CAVE or a specialized desk called the Immersadesk. An application to view and interact with the model on a desktop personal computer was written in C++.

RESULTS

A 3D model of the kidney, the multiple tumors, and the associated systems was created. The model could be viewed and manipulated in a true VR environment and on a desktop personal computer.

CONCLUSIONS

This project completed two major goals. First, a 3D model of a kidney containing multiple masses was created and viewed in a VR environment. Second, an interface to display the model on a desktop personal computer in the operating room was created. This is the first step in bringing VR technology to the operating room to assist the surgeon directly.

Video-assisted surgery represents more than a loss of three-dimensional vision

BACKGROUND

Loss of depth cues is a major challenge facing surgeons performing video-assisted surgery (VAS). Whether the degradation of image quality from a video-displayed image plays a direct role in performance of VAS has not been studied.

METHODS

Twenty-four volunteer novice subjects were randomized to binocular direct-vision (BDV), monocular direct-vision (MDV), or video-imaging (VI) conditions. Each subject completed ten trials of a simple cutting task in a box trainer using standard laparoscopic instruments.

RESULTS

VI subjects made significantly fewer correct incisions than both of the other groups for all trials. Differences between the BDV and MDV groups did not reach statistical significance. Improvement in performance was more rapid in the BDV group than in either the MDV or VI groups.

CONCLUSIONS

The degradation of image quality with VI has a detrimental influence on VAS performance above and beyond the loss of binocular vision.

Surgical skill facilitation in videoscopic open surgery

The operating room (OR) was traditionally characterized as a closed environment, in which the view of the operative field was available to the surgeon and assistant only. In laparoscopy, integration of technology into the surgical theatre has transformed surgical procedures into minimally invasive events, with viewing of the surgical field using endoscopic cameras. Similar technical advances to the open surgical environment will allow visualization and coordination of finer surgical maneuvers on standard video monitors. The objective of this study was to develop optimal protocols for performing basic open surgical maneuvers without direct viewing of the operating field, instead watching a monitor that displays the image of the surgical field captured by an endoscopic camera. The AESOP robotic arm and Alpha Virtual Port (Computer Motion, Goleta, California) were used to hold the endoscopic camera in different positions relative to the surgeon and the operative table. The surgeons conducting the study evaluated six such different setups. Based on the average time to complete the task in each of these setups and the ease of adaptation to the new working conditions, we concluded that at least one of these setups could be translated into the OR. The advantages of integrating video image enhancement over classical open surgery (OS) are that the surgical field can be magnified to perform finer maneuvers, and to share views of the surgical field with additional clinicians and trainees.

Digital video capture and synchronous consultation in open surgery

OBJECTIVE

To achieve real-time or simultaneous surgical consultation and education to students in distant locations, we report the successful integration of robotics, video-teleconferencing, and intranet transmission using currently available hardware and Internet capabilities.

SUMMARY BACKGROUND DATA

Accurate visualization of the surgical field with high-resolution video imaging cameras such as the closed-coupled device (CCD) of the laparoscope can serve to insure clear visual observation of surgery and share the surgical procedure with trainees and, or consultants in a distant location. Prior work has successfully applied optics and technical advances to achieve precise visualization in laparoscopy.

METHODS

Twenty-five thyroidectomy explorations in 15 patients were monitored and transmitted bidirectionally with audio and video data in real-time. Remotely located surgical trainees (n = 4) and medical students (n = 3) confirmed 7 different anatomic landmarks during each surgical procedure. The study used the Socrates System (Computer Motion, Inc. [CMI], Goleta, CA), an interactive telementoring system inclusive of a telestration whiteboard, in conjunction with the AESOP robotic arm and Hermes voice command system (CMI). A 10-mm flat laparoscopic telescope was used to capture the optical surgical field. As voice, telestrator, or marker confirmed each anatomic landmark the image parameters of resolution, chroma (light position and intensity), and luminance were assessed with survey responses.

RESULTS

Confirmation of greater than 90% was achieved for the majority of relevant anatomic landmarks, which were viewed by the remote audience.

CONCLUSION

The data presented in this study support the feasibility for mentoring and consultation to a remote audience with visual transmission of the surgical field, which is otherwise very difficult to share. Additionally, validation of technical protocols as teaching tools for robotic instrumentation and computer imaging of surgical fields was documented.

Advances in video and imaging in ureteroscopy

Advances in image processing and display technologies, such as digital imaging, HDTV, and virtual reality, will ultimately allow integration of endoscopic imaging with diagnosis and therapy during ureteroscopic procedures. Further improvements in simulation technology and telemedicine should improve surgical training and greatly benefit patient care.