SCH: INT: Collaborative Research: Computer Guided Laparoscopy Training

IIS-1622589 SCH：INT：协作研究：计算机引导的腹腔镜手术培训当由训练有素的外科医生进行时，腹腔镜手术是一种非常有效的手术，可以最大限度地减少与开放切口、失血和术后疼痛相关的并发症。它还可以缩短恢复时间。然而，由于视力受限、手眼协调问题、工作空间有限以及缺乏触觉，该手术比传统手术更具挑战性。因此，需要有效的培训和指导方法，以最大限度地减少此类程序所固有的潜在风险。该项目的目标是开发和验证在模拟的、非患者为基础的环境中进行计算机引导的腹腔镜手术培训的技术。计算机辅助手术训练器(CAST)将在手术技能练习期间通过利用增强现实显示的辅助力量来物理指导受训者的器械。指导培训将通过一项试验性实验研究进行验证，在该研究中，将比较计算机指导受训人员和教员指导受训人员的专门知识。将收集受训人员执行特定外科任务所需的时间、他或她的准确度等数据，以准确和客观地分析任务表现。这项工作将产生利用辅助力和增强现实技术进行运动轨迹规划和路径跟踪的新的科学方法。预计计算机引导的实践将加快学习和加强适当的技术，最终导致更好的手术结果和改善患者的安全性。CAST系统应该作为基本医疗技能培训的一种复杂但仍低成本的培训解决方案。具体目标是a)改进和实施一种内存和时间效率高的离线-在线混合最优路径规划器，用于计算机引导的基本腹腔镜技能培训。在这项任务中，无碰撞轨迹规划方法(如机器人中使用的方法)将通过将离线-在线混合技术与内存和计算时间高效的路径库相结合来生成。因此，可以利用触觉和增强现实可视化来自动规划和引导基本的腹腔镜任务；b)设计和实施手术空间导航的智能、自适应指导控制器，其中将开发考虑受训者技能水平的模糊逻辑和基于机器学习的方法，以便在掌握手术任务时能够提供最佳数量的训练协助；c)通过提供“导航”提示的增强现实覆盖设计和实施视觉引导技术，以补充对手术器械的基于力量的控制；以及d)通过试点研究来验证引导训练。在这项任务中，使用计算机指导方法的受训人员的表现将通过统计分析与未接受指导的受训人员的表现进行比较。主要调查人员将致力于通过与两个私人投资机构的成熟方案合作，以及通过赞助高级项目和独立学习课程，增加本科生的参与，特别是代表不足的群体的参与。

IIS-1622589 SCH: INT: Collaborative Research: Computer Guided Laparoscopy TrainingLaparoscopic surgery, when performed by a well-trained surgeon, is a remarkably effective procedure that minimizes complications associated with open incisions, blood loss and post-operative pain. It also reduces recovery time. However, the procedure is more challenging than conventional surgery due to restricted vision, hand-eye coordination problems, limited working space, and lack of tactile sensation. Therefore, effective training and guidance methods are needed to minimize the potential risks inherent in such procedures. The goal of this project is to develop and validate techniques for computer-guided laparoscopic surgical training in a simulated, non-patient based environment. A computer-aided surgical trainer (CAST) will physically guide trainees' instruments during surgical skills practice sessions by utilizing assistive force with augmented reality displays. Guided training will be validated through a pilot experimental study, in which the expertise of computer-guided trainees will be compared to that of instructor-guided trainees. Data such as the time it takes a trainee to execute a particular surgical task, how accurate he or she is, etc., will be collected to analyze task performance precisely and objectively. New scientific methods for motion trajectory planning and path following using assistive force and augmented reality techniques will result from this work. It is anticipated that computer-guided practice will speed up learning and reinforce appropriate techniques, ultimately, leading to better surgical outcomes and improved patient safety. The CAST system should serve as a sophisticated, yet still low-cost, training solution for fundamental medical skills training. The specific objectives are a) to refine and implement a memory- and time-efficient hybrid offline-online optimal path planner for computer-guided training of basic laparoscopic skills. In this task, collision-free trajectory planning methods (such as those used in robotics) will be generated by incorporating offline-online hybrid techniques with memory and computational time efficient path repository. Thus, basic laparoscopic tasks can be planned and guided automatically, using haptic force and augmented reality visualization; b) to design and implement an intelligent, adaptive guidance controller for surgical space navigation, where a fuzzy logic and machine learning-based methods will be developed that will take into account trainees' skill levels so that optimal amount of training assistance can be provided in mastering surgical tasks; c) to design and implement visual guidance techniques through augmented reality overlays that provide 'navigational' cues, supplementing force-based control of surgical instruments; and d) to validate guided training through a pilot study. In this task, trainees' performance using computer guidance methods will be compared, using statistical analysis, to that of unguided trainees. The principal investigators will aim to increase the participation of undergraduate students, and in particular of underrepresented groups, through collaboration with the well-established programs at both PIs' institutions and through sponsorship of senior projects and independent study courses.