Biomedical Robotics for Healthcare

Biomedical Robotics for Healthcare

Yuichi Kurita (Hiroshima University, Japan), Atsutoshi Ikeda (Nara Institute of Science and Technology, Japan), Kazuyuki Nagata (National Institute of Advanced Industrial Science and Technology, Japan), Masazumi Okajima (Hiroshima University, Japan) and Tsukasa Ogasawara (Nara Institute of Science and Technology, Japan)
DOI: 10.4018/978-1-4666-2196-1.ch017
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Abstract

Haptic information is crucial in the execution of precise and dexterous manipulations. During minimally invasive surgery, medical doctors are required to indirectly sense force-related information from body organ tissue via forceps because they cannot directly touch the tissue. The evaluation of force-based skill is critical in the judgment of whether a person has adequate manipulation skills to conduct surgery procedures. Currently, simulation training in minimally invasive surgery is a required component of general surgery residency training. A primary obstacle in the development of a training simulator with a haptic feedback capability is its high cost. This chapter addresses two research issues that must be integrated in the development of a cost-effective haptic training system: the challenge of skill evaluation during laparoscopic surgery by measuring the force applied to forceps, and a novel haptic display based on a haptic augmented reality (AR) technique.
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Automatic Classification And Skill Assessment Of Forceps Manipulation

This study aims to develop a skill assessment environment of forceps manipulation through the automatic, real-time classification of basic manipulations executed during a minimally invasive surgery.

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