Robotic simulators for tissue examination training with multimodal sensory feedback

Tissue examination by hand remains an essential technique in clinical practice. The effective application depends on skills in sensorimotor coordination, mainly involving haptic, visual, and auditory feedback. The skills clinicians have to learn can be as subtle as regulating finger pressure with breathing, choosing palpation action, monitoring involuntary facial and vocal expressions in response to palpation, and using pain expressions both as a source of information and as a constraint on physical examination. Patient simulators can provide a safe learning platform to novice physicians before trying real patients. This paper reviews state-of-the-art medical simulators for the training for the first time with a consideration of providing multimodal feedback to learn as many manual examination techniques as possible. The study summarizes current advances in tissue examination training devices simulating different medical conditions and providing different types of feedback modalities. Opportunities with the development of pain expression, tissue modeling, actuation, and sensing are also analyzed to support the future design of effective tissue examination simulators

Anthropometric Breast Motion Simulator Robot for Bra Evaluation.

Within the bra industry there exists a need to quantify fit and performance of test bra designs. While finite element simulation of breast dynamics has been undertaken for imaging and surgical planning, for this real-world application a physical breast simulator with motion control was designed, built, evaluated, and refined through a second iteration. This simulator is based on 3D scans from a professional bra-testing model which were converted into composites of molded-silicone-simulated skin and breast tissue integrated around a SLS 3D printed nylon lattice torso. An initial evaluation of the simulator breast motion was undertaken using standard position and acceleration metrics as well as damped oscillation and rheological studies of various breast formulations. A clinical study of breast firmness and tissue dynamics was completed to validate the simulator formulation and motion as well as to provide a knowledgebase for further improvements and future research inquiries.Doctor of Philosoph

Validation of the Haptic Cow: A simulator for training veterinary students

A virtual reality simulator, the Haptic Cow, has been developed using touch feedback technology for training veterinary students to perform bovine rectal palpation of the reproductive tract. The simulator was designed to supplement existing training and address some of the difficulties associated with teaching palpation-based skills. Students need to achieve a certain level of proficiency by graduation but this has become increasingly difficult because of problems with current training methods and a reduction in the number of opportunities to practice. A simulator- based teaching tool was developed as a potential solution. The first step involved designing a simulator on the basis of requirements established through consultation with both veterinary surgeons, as teachers, and students, as learners. Research was then undertaken to validate the simulator by following a set of established criteria described for the evaluation of new technologies used in medical education. The virtual models were assessed by experts as realistic enough representations of the same structures in the cow. An experiment to assess the effect of simulator training compared the performance of one group of students, whose training was supplemented with a simulator session, with another group of traditionally trained students. The subsequent performance for finding and identifying the uterus when examining cows for the first time, was significantly better for the simulator trained group, indicating that skills learned in the simulator environment transferred to the real task. A project was also undertaken to integrate the simulator into a curriculum, with training included as part of the farm animal course at the University of Glasgow Veterinary School. The training was well received by students, useful feedback was gathered and the simulator continues to be used as part of the course. Further developments were undertaken with the aim of creating a more versatile teaching tool and addressing some of the questions and issues raised. An automated version of the Haptic Cow was designed for students to use on their own, with computer guidance replacing the instructor's role. An evaluation found that the new version of the teaching tool was both usable and an effective way of equipping students with the skills required to find and identify the uterus. The potential to use haptic technology to investigate various aspects of performance was also explored in relation to the question of hand choice for certain palpation-based skills: differentiating between objects on the basis of softness and size. Ongoing research and development options are discussed, with the aim of building on the current work by expanding the role of haptic technology in veterinary education in the future

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Aerospace medicine and biology: A continuing bibliography with indexes

This bibliography lists 187 reports, articles, and other documents introduced into the NASA scientific and technical information system in October, 1987

Touch and Emotion in Haptic and Product Design

The emotional experience of products can have enormous impact on the overall product experience: someone who is feeling positive is more likely to be accepting of novel products or to be more tolerant of unexpected or unusual interface behaviours. Being able to improve users’ emotions through product interaction has clear benefits and is currently the focus of designers all over the world. The extent to which touch-based information can affect a user’s experience and observable behaviour has been given relatively little attention in haptic technology or other touch-based products where research has tended to focus on psychophysics relating to technical development, in the case of the former, and usability in the case of the latter. The objective of this research was therefore to begin to explore generalizable and useful relationship(s) between design parameters specific to the sense of touch and the emotional response to tactile experiences. To this end, a theoretical ’touch-emotion model’ was developed that incorporates stages from existing information and emotion processing models, and a subset of pathways (the ‘Affective’, ‘Cognitive’, and ‘Behaviour Pathways’) was explored. Four experiments were performed to examine how changes in various touch factors, such as surface roughness and availability of haptic (that is, touch-based) information during exploration, impacted user emotional experience and behaviour in the context of the model’s framework. These experiments also manipulated factors related to the experience of touch in real-world situations, such as the availability of visual information and product context. Exploration of the different pathways of the touch-emotion model guided the analysis of the experiments. In exploring the Affective Pathway, a robust relationship was found between increasing roughness and decreasing emotional valence (n = 36, p < 0.005), regardless of the availability of haptic or visual information. This finding expands earlier research that focused on the effect of tactile stimuli on user preference. The impact of texture on the Cognitive Pathway was examined by priming participants to think of the stimuli as objects varying in emotional commitment, such as a common mug (lower) or a personal cell phone (higher). Emotional response again decreased as roughness increased, regardless of primed context (n = 27, p < 0.002) and the primed contexts marginally appeared to generally improve or reduce emotional response (n = 27, p < 0.08). Finally, the exploration of the Behaviour Pathway considered the ability of roughness-evoked emotion to act as a mediator between physical stimuli and observable behaviour, revealing that, contrary to the hypothesis that increased emotional valence would increase time spent reflecting on the stimuli, increased emotion magnitude (regardless of the positive or negative valence of the emotion) was associated with increased time spent in reflection (n = 33, p < 0.002). Results relating to the Behaviour Pathway suggested that the portion of the touch-emotion model that included the last stages of information processing, observable behaviour, may need to be revised. However, the insights of the Affective and Cognitive Pathway analyses are consistent with the information processing stages within those pathways and give support to the related portions of the touch-emotion model. The analysis of demographics data collected from all four experiments also revealed interesting findings which are anticipated to have application in customizing haptic technology for individual users. For example, correlations were found between self-reported tactual importance (measured with a questionnaire) and age (n = 79, r = 0.28, p < 0.03) and between self-reported tactual importance and sensitivity to increased roughness (n = 79, r = -0.27, p < 0.04). Higher response times were also observed with increased age (rIT = 0.49, rRT = 0.48; p < 0.01). This research contributes to the understanding of how emotion and emotionevoked behaviour may be impacted by changing touch factors using the exemplar of roughness as the touch factor of interest, experienced multimodally and in varying situations. If a design goal is to contribute to user emotional experience of a product, then the findings of this work have the potential to impact design decisions relating to surface texture components of hand-held products as well as for virtual surface textures generated by haptic technology. Further, the touchemotion model may provide a guide for the systematic exploration of the relationships between surface texture, cognitive processing, and emotional response

Medical Education for the 21st Century

Medical education has undergone a substantial transformation from the traditional models of the basic classroom, laboratory, and bedside that existed up to the late 20th century. The focus of this text is to review the spectrum of topics that are essential to the training of 21st-century healthcare providers. Modern medical education goes beyond learning physiology, pathophysiology, anatomy, pharmacology, and how they apply to patient care. Contemporary medical education models incorporate multiple dimensions, including digital information management, social media platforms, effective teamwork, emotional and coping intelligence, simulation, as well as advanced tools for teaching both hard and soft skills. Furthermore, this book also evaluates the evolving paradigm of how teachers can teach and how students can learn – and how the system evaluates success

Proceedings of the 10th international conference on disability, virtual reality and associated technologies (ICDVRAT 2014)

The proceedings of the conferenc

Presence 2005: the eighth annual international workshop on presence, 21-23 September, 2005 University College London (Conference proceedings)

OVERVIEW (taken from the CALL FOR PAPERS) Academics and practitioners with an interest in the concept of (tele)presence are invited to submit their work for presentation at PRESENCE 2005 at University College London in London, England, September 21-23, 2005. The eighth in a series of highly successful international workshops, PRESENCE 2005 will provide an open discussion forum to share ideas regarding concepts and theories, measurement techniques, technology, and applications related to presence, the psychological state or subjective perception in which a person fails to accurately and completely acknowledge the role of technology in an experience, including the sense of 'being there' experienced by users of advanced media such as virtual reality. The concept of presence in virtual environments has been around for at least 15 years, and the earlier idea of telepresence at least since Minsky's seminal paper in 1980. Recently there has been a burst of funded research activity in this area for the first time with the European FET Presence Research initiative. What do we really know about presence and its determinants? How can presence be successfully delivered with today's technology? This conference invites papers that are based on empirical results from studies of presence and related issues and/or which contribute to the technology for the delivery of presence. Papers that make substantial advances in theoretical understanding of presence are also welcome. The interest is not solely in virtual environments but in mixed reality environments. Submissions will be reviewed more rigorously than in previous conferences. High quality papers are therefore sought which make substantial contributions to the field. Approximately 20 papers will be selected for two successive special issues for the journal Presence: Teleoperators and Virtual Environments. PRESENCE 2005 takes place in London and is hosted by University College London. The conference is organized by ISPR, the International Society for Presence Research and is supported by the European Commission's FET Presence Research Initiative through the Presencia and IST OMNIPRES projects and by University College London