Adaptive Force Guidance for Laparoscopic Training
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Solution Overview
Problem
Current laparoscopic surgery training systems lack force-based navigation using hands-on interfaces with physical reality arrangements, which are essential for providing realistic and proficiency-based guidance to trainees, as they often rely on virtual reality environments with artificial haptic feedback.
Innovation Solution
An adaptive force guidance system that employs self-adjusting fuzzy sliding mode controllers and switching mode controllers to provide proper force feedback, using virtual fixtures to restrict and guide surgical instrument motions, mimicking a human instructor's guidance, and incorporates human factors like force sensitivity and proficiency levels, integrated with a Computer-Assisted Surgical Trainer (CAST) system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If virtual reality environments with artificial haptic feedback are used for training, then the system complexity is reduced, but the realism and effectiveness of force-based guidance deteriorates
Solution Approach 1:
The patent replaces artificial haptic feedback systems with real haptic feedback from actual surgical instruments. Instead of using virtual reality environments with simulated forces, the system allows trainees to physically interact with real surgical instruments on physical reality training arrangements, where the natural mechanical properties and forces of the instruments provide authentic haptic feedback during training tasks.
2Ease of operation
If simple training devices are used without force guidance, then the ease of operation is improved, but the precision and control of surgical instrument navigation deteriorates
Solution Approach 1:
The patent implements adaptive force guidance that provides real-time haptic feedback to trainees. The system monitors the trainee's instrument navigation and applies corrective forces through the physical instrument to guide it along the recommended path. This feedback mechanism maintains ease of operation with simple hands-on interfaces while significantly improving navigation precision through natural force-based correction.
Solution Approach 2:
The patent introduces an intermediary force guidance system that acts between the trainee's manual control and the surgical instrument. This intermediary applies adaptive forces through the instrument to correct deviations from the recommended path, serving as a mediator that enhances precision without requiring complex virtual reality interfaces or changing the fundamental hands-on operation mode.
3Ease of operation
If fixed force guidance is applied to all trainees, then the ease of operation is improved, but the adaptability to different proficiency levels and force sensitivity deteriorates
Solution Approach 1:
The patent implements dynamic adaptation of force guidance parameters based on real-time monitoring of trainee performance and historical proficiency data. The system continuously adjusts the magnitude and characteristics of haptic feedback forces to match each trainee's current skill level and force sensitivity, transitioning from fixed to adaptive guidance that evolves with the trainee's development.
Solution Approach 2:
The patent changes key parameters of the force guidance system including force magnitude, stiffness, and damping characteristics based on trainee proficiency level and performance. The system modifies these parameters dynamically to provide appropriate challenge and support for each individual trainee, enabling customization without requiring complex manual configuration or sacrificing operational simplicity.
Data Source
AI summary
An adaptive force guidance system for laparoscopic surgery skills training includes self-adjusting fuzzy sliding mode controllers and switching mode controllers to provide proper force feedback. Using virtual fixtures, the system restrictS motions and/or guide a trainee to navigate a surgical instrument in a 3D space in a manner that mimics a human instructor who would teach trainees by holding their hands. The self-adjusting controllers incorporate human factors such as different force sensitivity and proficiency level.