Programmable prostate palpation simulator using property-changing pneumatic bladder

Modeling the basic behaviors of Anesthesia Training in Relation to Puncture and Penetration Feedback

Failure rates in spinal anesthesia are generally low in experienced hands. However, studies report a failure rate variation of 1% to 17% in this procedure. The aim of this study is to bring the main characteristics of in vivo procedure to the virtual reality simulated environment. The first step is to model the behavior of tissue layers being punctured by a needle to then make its inclusion in medical training possible. The simulation proposed here is implemented using a Phantom Omni haptic device. Every crucial sensation of the method mentioned here was assessed by a dozen volunteers who participated in two experiments designed to validate the modeled response. Each user answered six questions (three for each experiment). Good results were achieved in certain essential aspects of the process, such as identifying the number of layers, the most rigid layer to puncture, and the most resistant layers to pass through. These results indicated that it is possible to represent many typical behaviors through virtual needle insertion in spinal anesthesia with the correct use of haptic properties.Clinical relevance- The idea is to create a spinal anesthesia simulator that could work as a complementary step in training new anesthetists. The use of a simulator avoids introducing the first puncture haptic sensation directly in patients.

Feasibility Study and Experimental Evaluation of the Design of Nodule Prototype Developed for Palpation Display Apparatus: A Novel Device for Contactless Primary Tactile Diagnosis

Background: Lack of feasible palpation display for primary diagnosis of a tumor without any need of physician to patient physical contact has been reported as one of the major concerns. To further explore this area, we developed a novel palpation device consisting of a uniquely designed nodule mechanism (based on optimizing nodule top and bottom hemisphere wall thickness and manipulating granular jamming method) that can vary stiffness while maintaining the shape of the same nodule display, for which current devices are not capable of in terms of aping a tumor. Methods: This paper evaluates the manufacturing approach of the nodule, exploring several iterations of the nodule prototype. Experiments were performed on nodule prototypes of varying wall thicknesses in order to evaluate its effect on stiffness and deformation. Results and Conclusions: Experimental results showed that nodule top and bottom wall thickness had a significant effect on the stiffness and deformation of the nodule. The higher the thickness of the top hemisphere and the lower the thickness of the bottom hemisphere, the greater the stiffness the nodule can achieve. Similarly, the display shape of the nodule can be maintained with minimal or no deformation if the nodule top hemisphere thickness is optimally higher than bottom hemisphere thickness.

Design and Characterization of an Actuated Drill Mockup for Orthopedic Surgical Training

Haptic feedback in virtual reality-based trainers for surgical bone drilling is mostly provided via impedance-controlled haptic devices. Due to this, the displayable maximum stiffness is limited. In addition, vibration feedback is often only of reduced fidelity. To overcome these shortcomings, we have developed a hand-held, actuated admittance-controlled drill mockup, comprising enhanced kinesthetic and tactile feedback. This article reports on design and characterization of the device, and highlights its use for training. Kinesthetic feedback is provided through haptic augmentation, employing a ball-screw mechanism acting on a retractable drill-bit. Feedback computation relies on admittance control, thus allowing for stable display of very high resistance forces, and thus material stiffness, which cannot be achieved with standard impedance-control approaches. For the tactile mechanism, a modified linear vibration actuator is directly attached to the mockup handle, improving signal transmission. Tactile feedback computation is based on an extension of a previously proposed power spectral density control method. Frequency-specific gains are adjusted in real-time, compensating for differences between desired and measured vibrations. The performance of the device is characterized in several experiments, including comparisons to drilling with a real drill into artificial bone samples. In addition, several user studies have been carried out. We illustrate the capability of the mockup to render bone samples with different material layer stiffness and thickness. Moreover, we show that the mockup system allows for the same training effect as when rehearsing with a real drill.

Virtual Reality and Simulation for Progressive Treatments in Urology

In urology technologies and surgical practices are constantly evolving and virtual reality (VR) simulation has become a significant supplement to existing urology methods in the training curricula of urologists. However, new developments in urology also require training and simulation for a wider application. In order to achieve this VR and simulation could play a central role. The purpose of this article is a review of the principal applications for VR and simulation in the field of urology education and to demonstrate the potential for the propagation of new progressive treatments. Two different cases are presented as examples: exposure therapy for paruresis and virtual cystoscopy for diagnosis and surgery of bladder cancer. The article uses research and publications listed in openly accessible directories and is organized into 3 sections: The first section covers features of VR and simulation technologies. The second one presents confirmed applications of current technologies in urology education and showcases example future applications in the domain of bladder treatment and surgery. The final section discusses the potential of the technology to improve health care quality.