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An integrated simulator for surgery of the petrous bone.

This paper describes work being undertaken as part of the IERAPSI (Integrated Environment for the Rehearsal and Panning of Surgical Intervention) project. The project is focussing on surgery for the petrous bone, and brings together a consortium of European clinicians and technology providers working in this field. The paper presents the results of a comprehensive user task analysis that has been carried out in the first phase of the IERAPSI project, and details the current status of development of a pre operative planning environment and a physically-based surgical simulator.

Cochlear Implantation↗

A hybrid condensed finite element model for interactive 3D soft tissue cutting.

As requested from practical operations, it is necessary in the design to provide the ability to real-time cut and suture the tissue in a surgery simulation apart from the deformation simulation. In this paper, we present a deformation model, referred as the hybrid condensed FE model, based on the volumetric finite element method. The most important advantage of this model is its ability to handle the topology change freely with interactive rate in the surgical simulation on current PC platform.

Computer Simulation↗

Relationship between skill and outcome in the laboratory-based model.

BACKGROUND: Recent attention has been directed at developing quantitative assessments of surgical skill. This study aims to demonstrate whether objectively measuring differences in manual dexterity has an impact on a simulated surgical procedure. METHODS: Six general surgical trainees performed 5 polytetrafluoroethylene graft to artery anastomoses on a vascular model by using a standardized technique. Manual dexterity was objectively measured with (1) electromagnetic motion analysis: trackers applied to the backs of hands recorded and analyzed both hand movements and procedural time and (2) 4-parameter evaluation of the final product. Outcome parameters were assessed by (1) rate of anastomotic leakage and (2) smallest cross-sectional area of the anastomosis. RESULTS: The 2 objective measures of manual dexterity correlated closely (Pearson coefficient, 0.423; P <.02). Trainees with better manual dexterity scores produced better outcome measures. Those with better motion analysis scores produced anastomoses that leaked less (Pearson coefficient, 0.514; P <.01) and those with higher global evaluation scores had a larger anastomotic cross-sectional area (Pearson coefficient, 0.495; P <.01). Time taken for the procedure did not appear to influence either outcome measure. CONCLUSIONS: There is a significant correlation between objective measures of manual dexterity and the outcome measures in this model. This suggests that the outcome of a procedure can be predicted by measuring surgical skill.

Blood Vessel Prosthesis↗

Validation of the Madigan ESS simulator.

The Madigan Endoscopic Sinus Surgery (ESS) Simulator, developed by a multi-institution team led by Lockheed Martin, includes force-feedback instrument and virtual endoscope interaction with three-dimensional paranasal anatomy models derived from the Visible Human dataset, supplemented by a variety of graphical and auditory instructional aids embedded in the model. Our formal evaluation of Version 1.2 of the system focused on its validity as an ESS simulator. Run-time and survey data were collected for three groups of subjects on a common protocol progressing through the three basic ESS subtasks: navigation, injection, and dissection. Non-MD subjects performed the tasks on a simplified abstract virtual model with instructional aids (hoops for the navigation path, injection targets, dissection spheres, auditory feedback about task completion, and simulated patient heart rhythm). Non-ENT MDs progressed from this "novice" model to a simulated anterior ethmoidectomy on an "intermediate" model with the aids embedded in the reconstructed and segmented paranasal anatomy. Otolaryngologists ranging from second-year ENT residents through senior staff progressed through both the abstract and intermediate models, and then performed the simulated surgical procedure on an "advanced" model, consisting of the anatomy with no instructional aids. The procedural validity of the simulator is supported by a strong correlation between performance on the simulator and degree of prior ESS experience, by convergent correlation among independent measures of subject task performance, and by subjective evaluations by experienced ESS surgeons.

Algorithms↗

[The Virtual University applied to telesurgery: from tele-education to tele-manipulation].

The advent of new computer technologies appears as a revolution of surgical teaching, as well as the planning and realisation of surgical procedures. The introduction of a camera into the body of a patient, allowing the visual display of the operative procedure through the use of miniaturised camera constitutes the greatest alteration that the surgical world has experienced at the end of this century: mini-invasive surgery is born. This revolution was announces further changes: the development of telecommunication devices applied to medicine (tele-education, teletraining, telementoring, teleproctoring and tele-accreditation) constitutes the basis of cybersurgery or virtual reality allowing the merging of the concepts of telepresence and telemanipulation. These new concepts were developed at the European Institute of TeleSurgery of Strasbourg. The TESUS project developed the use of surgical images and data transmission through the realisation of international multi-site video conferences between surgeons. The WEBS project created the first Virtual University concept placing surgical techniques at the surgeon's disposal through Internet. The HESSOS project uses virtual reality as a surgical simulation system. The MASTER project allows to develop the concept of distant telemanipulation. It is now possible to face surgical teaching outside of the restricted University frame and to conceive teaching on a world level, offering to the practitioner unimaginable possibilities of formation, training and planning of surgical procedures.

Education, Medical↗

Endoscopic surgery simulation in a virtual environment.

The minimally invasive nature of endoscopic surgery allows operations to be performed on patients through small incisions, often under local anaesthesia. Patient recovery times and cosmetic detriment are thus greatly reduced, while overall quality of care is improved. Presently, surgeons are trained to perform endosurgical procedures in a number of ways: practising with surgical training devices, using animal models and assisting experienced surgeons. In this paper, the focus is on answering the key question: "Can virtual environment technology assist surgeons in training and maintaining endoscopic surgery skills?" Initial developments towards surgical simulators have clearly demonstrated the great potential of virtual environment technology for surgical training purposes. Breakthroughs towards surgery are expected within the next 5 to 10 years.

Clinical Competence↗

[A hip joint surgical planning system using 3-D images].

This paper describes a hip joint surgical simulation system using a three-dimensional image (X-ray CT images). We developed this system in cooperation with surgeons, and we have already applied it to several clinical examples. According to a surgeon who used our system for actual surgical plannings, most of the hip joint surgeries operated at the present time can be simulated. Our system has useful functions in order to plan surgeries such as interference check in movement of a bone and display of the attached surface of bone. We show an actual surgical planning process performed by the surgeon with our system.

Computer Simulation↗

Virtual reality and telepresence for military medicine.

The profound changes brought about by technology in the past few decades are leading to a total revolution in medicine. The advanced technologies of telepresence and virtual reality are but two of the manifestations emerging from our new information age; now all of medicine can be empowered because of this digital technology. The leading edge is on the digital battlefield, where an entire new concept in military medicine is evolving. Using remote sensors, intelligent systems, telepresence surgery and virtual reality surgical simulations, combat casualty care is prepared for the 21st century.

Artificial Intelligence↗

[The virtual university applied to telesurgery: from tele-education to telemanipulation].

The advent of new computer technologies can appear as a revolution in surgical teaching, as well as in the planing and realization of surgical procedures. The introduction of a camera into the body of a patient, allowing the visual display of the operative procedure through the use of a miniaturized camera, constitutes the greatest change that the surgical world has experienced at the end of this century: mini-invasive surgery is born. This revolution also predicts further changes: the development of telecommunication devices applied to medicine (tele-education, tele-training, tele-mentoring, tele-proctoring and tele-accreditation), constitutes the basis of cybersurgery or virtual reality allowing the merging of the concepts of tele-presence and telemanipulation. These new concepts were developed at the European Institute of TeleSurgery at Strasbourg. The TESUS project developed the use of surgical images and data transmission through the realization of international multi-site video conferences between surgeons. The WEBS project created the first virtual university concept by placing surgical techniques at the surgeon's disposal through the Internet. The HESSOS project uses virtual reality as a surgical simulation system. The MASTER project allows the development of the concept of distant telemanipulation. It is now possible to face surgical teaching outside of the restricted University framework, and to conceive teaching on a world-wide level, offering the practitioner unimaginable possibilities of formation, training and the planning of surgical procedures.

Computer-Assisted Instruction↗

Interactive stereoscopic full-color direct volume visualization for virtual reality applications in medicine.

Only recently, advanced direct volume visualization techniques have been widely used due to the availability of low cost hardware accelerators; such techniques have a great potential of use for many applications of the virtual reality in medicine. We proposed and implemented a low cost system for interactive and stereoscopic 3D visualization of the full color visible human dataset. Potential use of the proposed system includes anatomical atlases and surgical simulators. A prototype of the proposed system is rendering full color volumes with 256 x 152 x 470 in real time (15-20 Hz) with stereoscopy.

Anatomy, Cross-Sectional↗

[Anesthesia simulators: benefits and limits of experience gained at several European university hospitals].

Simulation has become essential in all situations where reality was too risky, too expensive, difficult to manage or inaccessible. In anaesthesia, the low rate of accidents and incidents, as well as the necessity to assure patient's safety, limit education and training in crisis management. The progress in data processing allowed the development of realistic anaesthesia simulators, associating the usual environment of an operating room, and made possible the simulation of a wide range of events. Most clinical incidents, mishaps, or manipulation errors can be simulated. A video recording allows the focus of attention on human factors. We assessed simulators in three European University hospitals. In Brussels as in Leiden, simulation was mainly used for training in crisis management. In Basel, the complete operating room staff participated in sessions, including also surgical simulation and improvement of communication within the team was one of the main goals. Simulation is valuable for residents' training, as well as continuing medical education, in crisis management and a better understanding of human factors. It remains without risk for the patient, with video possibilities improving the repetition of selected cases. However, its use for evaluation seems to be premature, due to the absence of studies demonstrating the validity and reproducibility of the results gained with simulation. Beyond technical limits which are amended continuously, the development of simulation is hindered by the very high cost of equipment and instructors.

Anesthesia↗

The surgeon skill set in minimally invasive total knee arthroplasty.

The traditional didactic approach to improving the skill set of surgeons has been shown to have minimal impact. Surgeons, like other adults, learn best by doing, by practicing what they do. and by challenging themselves to take on increasingly difficult scenarios. To be effective, surgical practice requires deconstruction of a procedure into key elements, each of which is repeated until optimal results are achieved before moving on to the next element. Given the multifactorial nature of a procedure such as minimally invasive surgery for total knee arthroplasty, surgeons need to introduce incremental changes into their operating environment to allow for realistic self-assessment during postoperative self-debriefing. One technique, visualization, can be used for virtual practice. In the future, surgical simulators may allow for true virtual practice as well as systematic recording of results. However, psychomotor skills are only one component of surgical success. Intuition and innovation are also key, but these components are more difficult to teach and to learn. The key ingredient to successful practice and ultimate self-improvement in surgery, as in other pursuits in life, is that a person be self-motivated and competitive and have a strong desire to improve coupled with appropriate practice routines that can lead to improvement.

Arthroplasty, Replacement, Knee↗

Virtual reality laparoscopic skill assessment in microgravity.

BACKGROUND: The objective of the study was to assess if performance of basic laparoscopic skills on a virtual reality (VR) simulator is impaired in microgravity relative to normal gravitational influences. MATERIALS AND METHODS: Fourteen subjects with various educational backgrounds underwent basic laparoscopy skill training for five consecutive days on the ground before flying aboard NASA's KC-135 zero-gravity laboratory. The participants performed basic laparoscopic exercises (clip applying, grasping, cutting, and suturing) on a VR laparoscopy simulator, both on the ground and during 25-s microgravity windows in parabolic flight. Skill levels after ground training were compared with skill levels in performing the same tasks in microgravity. Blinded reviewers measured the number of tasks successfully completed, tissue damage number, left and right hand path lengths during task execution, and percentage of task attempts that resulted in successful completion. RESULTS: A significant increase in tissue injury (t test, P < 0.05) and task erosion were seen in clip applying, cutting, and grasping in microgravity (45%, 20% and 57% decrease in task attempts that resulted in a successful completion, respectively). However, there was no significant difference in the left and right hand path lengths, and the total number of tasks successfully completed on the ground versus in microgravity, for any of the four laparoscopic exercises (t test, P > 0.05). CONCLUSION: This study demonstrates decreased efficiency and increased injury to the simulated tissues in performing laparoscopic skills during microgravity as compared to performing these skills in standard gravitational influence. Additional experiments are indicated to further develop and validate VR microgravity surgical simulation.

Aircraft↗

[Third dimension and craniofacial plastic surgery].

Via an inverse approach to that of the Renaissance painter's treatment of perspective, the third dimension must be obtained from flat radiological information in order to reconstitute (virtually and materially) the volumes which it analyses. These images are analysed mathematically by computer. The applications are and will be numerous, especially in cranio-maxillo-facial surgery. Surgical simulation, without claiming to assess their soft tissue repercussions, section and virtually reposition bone segments: symmetrization and correction of hypotrophy are easy to visualize; computer-assisted surgical teaching applications (endoscopic surgery) are discussed. Multimodal images superimpose information from various sources: operative views and pre-recorded images are available to the surgeon and guide him in his "surgical navigation". Prototyping of skeletal anatomical specimens (prior to tumour or soft tissue specimens) provides the therapist with a precise preoperative spatial configuration of the abnormalities to be corrected, and the reconstructions to be performed. These developments, and others to come, are the sole objective of 3D imaging, beautiful in itself, but ineffective alone.

Computer Simulation↗

A human factors analysis of technical and team skills among surgical trainees during procedural simulations in a simulated operating theatre.

BACKGROUND: High-risk organizations such as aviation rely on simulations for the training and assessment of technical and team performance. The aim of this study was to develop a simulated environment for surgical trainees using similar principles. METHODS: A total of 27 surgical trainees carried out a simulated procedure in a Simulated Operating Theatre with a standardized OR team. Observation of OR events was carried out by an unobtrusive data collection system: clinical data recorder. Assessment of performance consisted of blinded rating of technical skills, a checklist of technical events, an assessment of communication, and a global rating of team skills by a human factors expert and trained surgical research fellows. The participants underwent a debriefing session, and the face validity of the simulated environment was evaluated. RESULTS: While technical skills rating discriminated between surgeons according to experience (P = 0.002), there were no differences in terms of the checklist and team skills (P = 0.70). While all trainees were observed to gown/glove and handle sharps correctly, low scores were observed for some key features of communication with other team members. Low scores were obtained by the entire cohort for vigilance. Interobserver reliability was 0.90 and 0.89 for technical and team skills ratings. CONCLUSIONS: The simulated operating theatre could serve as an environment for the development of surgical competence among surgical trainees. Objective, structured, and multimodal assessment of performance during simulated procedures could serve as a basis for focused feedback during training of technical and team skills.

Attention↗

Computer assisted orthopaedic surgery. Image guided and robotic assistive technologies.

Technologies are emerging that will influence the way in which orthopaedic surgery is planned, simulated, and performed. Recent advances in the fields of medical imaging, computer vision, and robotics have provided the enabling technologies to permit computer aided surgery to become an established area which can address clinical needs. Although these technologies have been applied in industry for more than 20 years, the field of computer assisted orthopaedic surgery is still in its infancy. Image guided and surgical navigation systems, robotic assistive devices, and surgical simulators have begun to emerge from the laboratory and hold the potential to improve current surgical practice and patients' outcomes. The goals of these new clinically focused technologies are to develop interactive, patient specific preoperative planners to optimize the performance of surgery and the postoperative biologic response, and develop more precise and less invasive interactive smart tools and sensors to assist in the accurate and precise performance of surgery. The medical community is beginning to see the benefit of these enabling technologies which can be realized only through the collaboration and combined expertise of engineers, roboticists, computer scientists, and surgeons.

Biomedical Engineering↗

Skill transfer from virtual reality to a real laparoscopic task.

BACKGROUND: To validate the usefulness of virtual reality surgical simulators, we investigated the transfer of skills achieved by their use to real tasks. METHODS: Thirty medical students underwent a pretest using a real laparoscopic trainer. They were then randomized to the following three groups: group I received no training; group II received training using the Minimal Invasive Surgical Trainer in Virtual Reality (MIST-VR); and group III received training using conventional training exercises. Each group then underwent a posttest. Using the Imperial College Surgical Assessment Device (ICSAD), scores were generated for time taken, distance traveled, number of movements made, and speed of instrument movement. RESULTS: Significant changes between the MIST-VR group (group II) and the conventionally trained group (group III), were observed in the speed of movement of the left hand and the numbers of movements taken by each hand, when compared to the untrained group (group I). CONCLUSION: The training of novices using MIST-VR yields quantifiable changes in skill that are transferable to a simple real task and are similar to the results achieved with conventional training.

Clinical Competence↗

Elasticity of the living abdominal wall in laparoscopic surgery.

Laparoscopic surgery requires inflation of the abdominal cavity and this offers a unique opportunity to measure the mechanical properties of the living abdominal wall. We used a motion analysis system to study the abdominal wall motion of 18 patients undergoing laparoscopic surgery, and found that the mean Young's modulus was 27.7+/-4.5 and 21.0+/-3.7 kPa for male and female, respectively. During inflation, the abdominal wall changed from a cylinder to a dome shape. The average expansion in the abdominal wall surface was 20%, and a working space of 1.27 x 10(-3)m(3) was created by expansion, reshaping of the abdominal wall and diaphragmatic movement. For the first time, the elasticity of human abdominal wall was obtained from the patients undergoing laparoscopic surgery, and a 3D simulation model of human abdominal wall has been developed to analyse the motion pattern in laparoscopic surgery. Based on this study, a mechanical abdominal wall lift and a surgical simulator for safe/ergonomic port placements are under development.

Abdominal Wall↗