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

在任何类型的手术中，训练都是确保患者安全的关键。这个过程需要大量的时间，对培训师（经验丰富的外科医生）和受训者来说都是有压力的。机器人技术已经在外科手术中得到了应用，比如达芬奇[1]（一种远程控制手术工具的系统）和仿真技术。在泌尿外科领域，小型内部仪器和内窥镜被用来在泌尿道内进行手术，Simbionix公司凭借其软件“Uromentor”[2]目前在用于培训的模拟器市场上处于领先地位。然而，它们的功能是有限的，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，动手培训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的医疗模拟器。通过跟踪经验丰富的外科医生在进行这些手术时的手，有可能建立一个运动、运动和力量的工作空间。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。这样的调查也可以回答“需要多少反馈和什么样的分辨率”的问题，从而提高外科学员的学习体验，缩短学习时间。这项初步研究允许创建一个模拟器与触觉反馈和多个传感器集成。模拟器也将记录这些过程，以便给出反馈。除了将该系统用于培训目的外，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。该项目也为泌尿外科的先进诊断和改进仪器提供了垫脚石。建议的方法仅处于初始阶段，可能会在整个项目中进行更改。参考资料[1]Intuitive，“About da Vinci Systems”，Intuitive，[在线]。可用网址：https://www.davincisurgery.com/da-vinci-systems/about-da-vinci-systems。[2020年5月31日起]。[2] 3D系统，“Uro Mentor”，3D系统，[在线]。可用网址：https://simbionix.com/simulators/uro-mentor/。[2020年5月31日起]。

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].