gms | German Medical Science

14th Triennial Congress of the International Federation of Societies for Surgery of the Hand (IFSSH), 11th Triennial Congress of the International Federation of Societies for Hand Therapy (IFSHT)

17.06. - 21.06.2019, Berlin

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Haptic assisted and VR-based training for minimally invasive K-wire drilling

Meeting Abstract

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  • presenting/speaker Johannes Maier - Regensburg Medical Image Computing (ReMIC), Ostbayerische Technische Hochschule Regensburg, Regensburg, Germany
  • Jerome Perret - Haption GmbH, Aachen, Germany
  • Martina Simon - Fraunhofer Center for Applied Research on Supply Chain Serv., Nürnberg, Germany
  • Stephanie Schmitt-Rüth - Fraunhofer Center for Applied Research on Supply Chain Serv., Nürnberg, Germany
  • Thomas Wittenberg - Fraunhofer Institute for Integrated Circuits IIS, Image Processing and Biomedical Engineering, Erlangen, Germany
  • Christoph Palm - Regensburg Medical Image Computing (ReMIC), Regensburg Center of Biomedical Engineering (RCBE), OTH Regensburg and Regensburg University, Regensburg, Germany
  • Michaela Huber - Department of Trauma Surgery & Emergency Department, University Hospital Regensburg, Regensburg, Germany

International Federation of Societies for Surgery of the Hand. International Federation of Societies for Hand Therapy. 14th Triennial Congress of the International Federation of Societies for Surgery of the Hand (IFSSH), 11th Triennial Congress of the International Federation of Societies for Hand Therapy (IFSHT), 11th Triennial Congress of the International Federation of Societies for Hand Therapy (IFSHT). Berlin, 17.-21.06.2019. Düsseldorf: German Medical Science GMS Publishing House; 2020. DocIFSSH19-572

doi: 10.3205/19ifssh0626, urn:nbn:de:0183-19ifssh06267

Published: February 6, 2020

© 2020 Maier et al.
This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 License. See license information at http://creativecommons.org/licenses/by/4.0/.

Outline

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Objectives/Interrogation: Looking for less costly and time-consuming training methods for complex bone drilling procedures, we are developing a haptic and visual assisted VR-based training system for complex minimally-invasive K-wire insertion to the human hand [2]. Surgeons can learn, train and improve their bone drilling skills and anatomical knowledge in a real-time and bimanual haptic environment composition. To provide a good training effect, especially the drilling process has to be as realistic and immersive as possible.

Methods: For the user interaction we are using a force-feedback device (Haption Virtuose 6D Desktop, www.haption.com) with a drilling tool mounted to the tip in order to render realistic forces during a simulated drilling process. To guarantee a stable simulation without jerking we separated the drilling process into independent logical phases by using a virtual fixture approach. With virtual fixtures we are able to simulate the K-wire behavior by splitting the complex task into elementary sub-tasks. The transitions between these states are well defined, so that every single phase can be handled completely independently. In real-time calculated forces can be perfectly controlled and transmitted to the user over the haptic device.

Results and Conclusions: Within a formative subjective evaluation we presented our bone drilling prototype simulator on the FESSH conference 2018. A total of 30 surgeons, who had predominantly expert status, tested the drilling procedure and assessed the drilling simulation as authentic and very realistic.

Based on virtual fixtures, simple and discrete drilling phases can reliably simulate the complex minimally invasive bone drilling behavior in a real-time and VR-based environment. In a formative subjective surgeon evaluation, our approach was considered as very realistic and promising. Thus, complex bone drilling based on virtual fixtures has a great potential for future medical training.