Investigation and Development of an Endourology Haptic Robot Simulator for Surgical Training

在任何类型的手术中，培训都是患者安全的关键。这个过程需要大量的时间，对培训师和教练都有压力。机器人技术已被用于外科手术中，如达芬奇系统[1]在使用小型内部器械和内窥镜在泌尿道内进行手术的腔内泌尿学领域中，Simbionix公司及其软件“Uromentor”[2]目前在用于培训的模拟器市场处于领先地位。然而，它们的能力是有限的，而且，不包括触觉反馈。此外，由于新外科医生的学习曲线陡峭，动手训练往往会导致昂贵的设备损坏。拟议的研究项目将调查这些缺点，并在该领域开发一种新型的医疗模拟器。通过跟踪经验丰富的外科医生在执行这些程序时的手，有可能建立一个工作空间，运动，运动和力量。其中的数据将允许系统区分新外科医生和高级外科医生，并比较他们的不同做法。这样的调查还将回答“需要多少反馈和什么分辨率”的问题，从而改善外科实习生的学习体验，缩短学习时间。这项主要的研究，然后允许创建一个模拟器与触觉反馈和多个传感器集成。模拟器还将记录这些程序，以便提供反馈。除了将该系统用于培训目的之外，它还有可能使经验丰富的外科医生变得更好，并忘记他们已经习惯的错误，因为他们将实时收到反馈。该项目还为泌尿外科的先进诊断和改进仪器提供了垫脚石。参考文献[1] Intuitive，“About da芬奇Systems”，Intuitive，[Online].可通过以下网址获得：https://www.davincisurgery.com/da-vinci-systems/about-da-vinci-systems。[2020年5月31日]。[2]3D Systems，“Uro Mentor”，3D Systems，[Online].可通过以下网址获得：https://simbionix.com/simulators/uro-mentor/。[2020年5月31日]。

Within any type of surgery, training is key to the patient's safety. This process requires a lot of time and can be stressful for both the trainer (experienced surgeon) and the trainee.Robotics has been utilised within surgery, with systems such as the DaVinci [1] (a system in which the operating tools are controlled remotely), and simulation technologies.In the field of endourology, in which small internal instruments and endoscopes are used to perform surgery within the urinary tract, the company Simbionix, with their software 'Uromentor' [2] are currently leading the market in simulators used for training. However, ttheir capabilities are limited, and, furthermore, do not include haptic feedback. Additionally, hands-on training often results in expensive equipment being damaged due to the steep learning curve of new surgeons.The proposed research project will investigate these shortcomings and develop a novel medical simulator within this field.Through tracking the hands of experienced surgeons when performing these procedures, there is potential to build a workspace, of motion, movements and forces. The data within this would allow the system to distinguish between novel surgeons and advanced surgeons and compare what they are doing differently. Such an investigation would also answer the question of 'how much feedback and at what resolution is required' so that the learning experience of surgical trainees is improved, and the learning length shortened. This primary research then allows for a simulator to be created with haptic feedback and multiple sensors integrated. The simulator will also record these procedures, allowing feedback to be given. On top of using this system for training purposes, it has the potential to make experienced surgeons even better and unlearn mistakes which they have become accustomed to, as they would receive feedback in real-time. This project also provides the stepping stones for advanced diagnostics and improving instrumentation in urology. The proposed methodology is only within its initial stage and could be subject to change through the project.References[1] Intuitive, "About da Vinci Systems," Intuitive , [Online]. Available: https://www.davincisurgery.com/da-vinci-systems/about-da-vinci-systems . [Accessed 31 May 2020].[2] 3D Systems, "Uro Mentor," 3D Systems, [Online]. Available: https://simbionix.com/simulators/uro-mentor/ . [Accessed 31 May 2020].