Haptic Rendering Using Reality-Based Force Profiles in Surgical Simulation.

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics Pub Date : 2025-05-16 DOI:10.1109/TOH.2025.3570810

Oystein Bjelland, Bismi Rasheed, Intissar Cherif, Andreas F Dalen, Amine Chellali, Martin Steinert, Robin T Bye

{"title":"Haptic Rendering Using Reality-Based Force Profiles in Surgical Simulation.","authors":"Oystein Bjelland, Bismi Rasheed, Intissar Cherif, Andreas F Dalen, Amine Chellali, Martin Steinert, Robin T Bye","doi":"10.1109/TOH.2025.3570810","DOIUrl":null,"url":null,"abstract":"<p><p>This paper presents a novel method for simplifying kinesthetic haptic rendering of complex contact interactions in arthroscopic surgery training simulators using reality-based force profiles. We demonstrate continuous kinesthetic feedback for applications to arthroscopic knee portal creation and diagnostic meniscus examination. This involves measuring characteristic force profiles in ex vivo experiments, simulator implementation in SOFA, and performing user validation experiments. When comparing the method with linear-elastic-based haptic feedback for meniscus stiffness discrimination, novices had difference thresholds of 1.80 MPa (linear-elastic) and 1.47 MPa (reality-based), while experts showed thresholds of 0.99 MPa and 1.39 MPa, respectively, indicating finer sensitivity among experts. Experts also used significantly less force (${\\mathit{p}}\\mathbf {< 0.05}$) and had shorter decision times (${\\mathit{p}}\\mathbf {< 0.05}$) than novices across both methods, indicating construct validity. Although kinesthetic feedback was verified with ex vivo experiments for portal creation, user validation was here inconclusive due to minor inconsistencies in the integration of visual and haptic feedback. Limitations include triggering material removal via instrument penetration instead of haptic force limits, as well as omitting contact vibrations. The method gives only a minor reduction in computation speed. Examples are available on GitHub.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4000,"publicationDate":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Haptics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1109/TOH.2025.3570810","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, CYBERNETICS","Score":null,"Total":0}

引用次数: 0

Abstract

This paper presents a novel method for simplifying kinesthetic haptic rendering of complex contact interactions in arthroscopic surgery training simulators using reality-based force profiles. We demonstrate continuous kinesthetic feedback for applications to arthroscopic knee portal creation and diagnostic meniscus examination. This involves measuring characteristic force profiles in ex vivo experiments, simulator implementation in SOFA, and performing user validation experiments. When comparing the method with linear-elastic-based haptic feedback for meniscus stiffness discrimination, novices had difference thresholds of 1.80 MPa (linear-elastic) and 1.47 MPa (reality-based), while experts showed thresholds of 0.99 MPa and 1.39 MPa, respectively, indicating finer sensitivity among experts. Experts also used significantly less force (${\mathit{p}}\mathbf {< 0.05}$) and had shorter decision times (${\mathit{p}}\mathbf {< 0.05}$) than novices across both methods, indicating construct validity. Although kinesthetic feedback was verified with ex vivo experiments for portal creation, user validation was here inconclusive due to minor inconsistencies in the integration of visual and haptic feedback. Limitations include triggering material removal via instrument penetration instead of haptic force limits, as well as omitting contact vibrations. The method gives only a minor reduction in computation speed. Examples are available on GitHub.

查看原文本刊更多论文

在外科手术模拟中使用基于现实的力轮廓的触觉渲染。

本文提出了一种新的方法来简化关节镜手术训练模拟器中复杂接触相互作用的动觉触觉渲染，使用基于现实的力剖面。我们展示了连续的动觉反馈在关节镜下膝关节门静脉创建和半月板诊断检查中的应用。这包括在离体实验中测量特征力轮廓，在SOFA中实现模拟器，以及执行用户验证实验。与基于线弹性触觉反馈的半月板刚度判别方法比较，新手的阈值差异为1.80 MPa（线弹性）和1.47 MPa（基于现实），而专家的阈值分别为0.99 MPa和1.39 MPa，表明专家的灵敏度更高。专家在两种方法中使用的力（${\mathit{p}}\mathbf{< 0.05}$）和决策时间（${\mathit{p}}\mathbf{< 0.05}$）都明显少于新手，表明结构的有效性。虽然动觉反馈通过离体实验验证了门户创建，但由于视觉和触觉反馈整合的轻微不一致，用户验证在这里是不确定的。限制包括通过仪器穿透触发材料去除，而不是触觉力限制，以及省略接触振动。这种方法只在计算速度上有很小的降低。示例可以在GitHub上找到。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Transactions on Haptics COMPUTER SCIENCE, CYBERNETICS-

CiteScore

5.90

自引率

13.80%

发文量

109

审稿时长

>12 weeks

期刊介绍： IEEE Transactions on Haptics (ToH) is a scholarly archival journal that addresses the science, technology, and applications associated with information acquisition and object manipulation through touch. Haptic interactions relevant to this journal include all aspects of manual exploration and manipulation of objects by humans, machines and interactions between the two, performed in real, virtual, teleoperated or networked environments. Research areas of relevance to this publication include, but are not limited to, the following topics: Human haptic and multi-sensory perception and action, Aspects of motor control that explicitly pertain to human haptics, Haptic interactions via passive or active tools and machines, Devices that sense, enable, or create haptic interactions locally or at a distance, Haptic rendering and its association with graphic and auditory rendering in virtual reality, Algorithms, controls, and dynamics of haptic devices, users, and interactions between the two, Human-machine performance and safety with haptic feedback, Haptics in the context of human-computer interactions, Systems and networks using haptic devices and interactions, including multi-modal feedback, Application of the above, for example in areas such as education, rehabilitation, medicine, computer-aided design, skills training, computer games, driver controls, simulation, and visualization.