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

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

Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

Development of a force-feedback laparoscopic surgery simulator

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.Includes bibliographical references (p. 77-78).The work presented here addressed the development of an electro-mechanical force-feedback device to provide more realistic and complete sensations to a laparoscopic surgery simulator than currently available. A survey of the issues surrounding haptic (touch) displays and training for laparoscopic or "keyhole" procedures was performed. A number of primary and secondary sources including surgeon consultation , operating room observations, and task analyses were used to accumulate a list of needs. Subsequent requirements analysis translated these into a set of specifications for the kinematics, dynamics and actuators, and configuration of the device. These suggested a design with five actuated axes (pitch and yaw about the entrance to the abdomen, insertion, rotation about the tool axis, and gripper feedback) amenable to a configuration including two actuated tools in a lifelike torso. These specifications were the basis for the generation and selection of design concepts. The PHANTOM haptic interface from Sensable Devices was chosen from among a number of existing devices and original designs to actuate the pitch, yaw, and insertion degrees of freedom. A separate end effector actuator was specified to supply feedback to the handle rotation and gripper. Mechanisms were proposed for each of these axes; a linear cable capstan was selected for the gripper and a cable capstan/drum for the rotation. The kinematics, bearings, transmissions, and user interface for both axes were designed in detail, and first- and second generation prototypes were built. The finished devices were integrated with the PHANTOM hardware, electronics, and software. Performance and design evaluations were performed, and plans for future device improvements and user studies were outlined.by Ela Ben-Ur.S.M

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

A Haptic Study to Inclusively Aid Teaching and Learning in the Discipline of Design

Designers are known to use a blend of manual and virtual processes to produce design prototype solutions. For modern designers, computer-aided design (CAD) tools are an essential requirement to begin to develop design concept solutions. CAD, together with augmented reality (AR) systems have altered the face of design practice, as witnessed by the way a designer can now change a 3D concept shape, form, color, pattern, and texture of a product by the click of a button in minutes, rather than the classic approach to labor on a physical model in the studio for hours. However, often CAD can limit a designer’s experience of being ‘hands-on’ with materials and processes. The rise of machine haptic1 (MH) tools have afforded a great potential for designers to feel more ‘hands-on’ with the virtual modeling processes. Through the use of MH, product designers are able to control, virtually sculpt, and manipulate virtual 3D objects on-screen. Design practitioners are well placed to make use of haptics, to augment 3D concept creation which is traditionally a highly tactile process. For similar reasoning, it could also be said that, non-sighted and visually impaired (NS, VI) communities could also benefit from using MH tools to increase touch-based interactions, thereby creating better access for NS, VI designers. In spite of this the use of MH within the design industry (specifically product design), or for use by the non-sighted community is still in its infancy. Therefore the full benefit of haptics to aid non-sighted designers has not yet been fully realised. This thesis empirically investigates the use of multimodal MH as a step closer to improving the virtual hands-on process, for the benefit of NS, VI and fully sighted (FS) Designer-Makers. This thesis comprises four experiments, embedded within four case studies (CS1-4). Case study 1and2 worked with self-employed NS, VI Art Makers at Henshaws College for the Blind and Visual Impaired. The study examined the effects of haptics on NS, VI users, evaluations of experience. Case study 3 and4, featuring experiments 3 and4, have been designed to examine the effects of haptics on distance learning design students at the Open University. The empirical results from all four case studies showed that NS, VI users were able to navigate and perceive virtual objects via the force from the haptically rendered objects on-screen. Moreover, they were assisted by the whole multimodal MH assistance, which in CS2 appeared to offer better assistance to NS versus FS participants. In CS3 and 4 MH and multimodal assistance afforded equal assistance to NS, VI, and FS, but haptics were not as successful in bettering the time results recorded in manual (M) haptic conditions. However, the collision data between M and MH showed little statistical difference. The thesis showed that multimodal MH systems, specifically used in kinesthetic mode have enabled human (non-disabled and disabled) to credibly judge objects within the virtual realm. It also shows that multimodal augmented tooling can improve the interaction and afford better access to the graphical user interface for a wider body of users

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications