WO2005081175A1 - Adaptive simulation environment particularly suited to laparoscopic surgical procedures - Google Patents
Adaptive simulation environment particularly suited to laparoscopic surgical procedures Download PDFInfo
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- WO2005081175A1 WO2005081175A1 PCT/US2005/005502 US2005005502W WO2005081175A1 WO 2005081175 A1 WO2005081175 A1 WO 2005081175A1 US 2005005502 W US2005005502 W US 2005005502W WO 2005081175 A1 WO2005081175 A1 WO 2005081175A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/24—Use of tools
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
Definitions
- This invention relates generally to computer-based simulators and, in particular, to an adaptive simulation environment that automatically facilitates realtime adjustments based on the user's performance to achieve an optimal learning "zone" involving moderate stress, and further including the ability to change the training environment in real-time to optimize motor-skill learning.
- the Yerkes-Dodson principal also known as the inverted "U" principal, stands for the proposition that in situations of high or low stress, learning and performance are compromised. This presents a major challenge to training, especially for complex tasks and medical procedures. This was confirmed by Moorthy et al. with respect to high stress and laparoscopic task performance. The Yerkes-Dodson principal further holds that optimal learning and performance occur in a situation of moderate stress. As such, simulators designed for one level of difficulty will not be optimal for some users by virtue of a standard bell curve for a population of learners. For some users, the preset level will be optimal for learning, but low performers may be frustrated or overwhelmed, whereas high performers may become bored or not progress further.
- the system and method facilitates the real-time adjustments in learning environment based on the user's performance.
- the algorithm was designed to keep all learners in an optimal learning "zone," while allowing users of varying levels of abilities to start training without frustration or boredom. Though applicable to other learning environments, the adaptive learning environment is ideally suited to surgical skill simulation.
- a method according to the invention for adjusting the environment in accordance with the user's performance includes the steps of specifying a task to be performed in conjunction with an object; displaying the object in the environment for a predetermined period of time; and modifying the display as a function of the user's ability to complete the task in the predetermined period of time.
- the step of modifying the display includes adjusting the predetermined period of time during which the object is displayed.
- the object may appear for a longer period of time if the user is unable to complete the task in the predetermined period of time, or for a shorter period of time if the user is able to complete the task in the predetermined period of time.
- the object may appear for a 15-20 percent longer period of time (thus becoming easier and less stressful) if the user is unable to complete the task, or it may appear for a 15-20 percent shorter period of time (more difficult and challenging) if the user is able to complete the task.
- the step of modifying the display includes changing the size of the object as a function of the user's ability to complete the task in the predetermined period of time.
- the size of the object may be increased (easier) if the user is unable to complete the task in the predetermined period of time, or the size may be decreased (more difficult) if the user is able to complete the task in the predetermined period of time.
- the step of modifying the display may include changing the color of the object if the user is unable to complete the task in the predetermined period of time, and an audible signal may be generated as a function of the user's ability or inability to complete the task in the predetermined period of time. If the user uses both hands and the task is not completed, the task is repeated for the same hand, and the task may optionally be adjusted in terms of level of difficulty. If the environment involves a laparoscopic surgical procedure, the task may include grasping, moving, cutting or otherwise manipulating the object.
- FIGURE 1A is a flow diagram indicating important steps according to a speed related method of the invention
- FIGURE IB is a flow diagram indicating important steps according to a speed and accuracy related method of the invention
- FIGURE 2A illustrates touching a virtual sphere with a virtual laparoscopic instrument
- FIGURE 2B illustrates touching a sphere simultaneous with both virtual laparoscopic instrument tips
- FIGURE 2C illustrates grasping of one sphere and transfer to the other grasper.
- the system and method facilitates the real-time adjustments in learning environment based on the user's performance.
- the algorithm was designed to keep all learners in an optimal learning "zone,” while allowing users of varying levels of abilities to start training without frustration or boredom.
- the Smart Tutor (ST) software implements a graphical user interface, simulated environment, computer-generated rendering of an environment or scenario, and all key elements represented in that environment. Parameters to be governed by ST may include, but are not limited to, object size, color, speed of motion, timing and frequency or appearance, graphic clarity, haptics, level and types of haptic information, levels of stress to a user of the system, control over which levels, tasks, and scenarios are introduced.
- ST is used in combination with RapidFire (Verefi Technologies, Inc. Hershey, PA), a PC-based laparoscopic motor-skill trainer using the Immersion Virtual Laparoscopic Interface (Immersion Corporation, San Jose, CA).
- RapidFire Very Technologies, Inc. Hershey, PA
- PC-based laparoscopic motor-skill trainer using the Immersion Virtual Laparoscopic Interface (Immersion Corporation, San Jose, CA).
- the Smart Tutor software was implemented as a layer of control over all key parameters of the RapidFire environment, including number of trials, left versus right-handed tasks, time parameters, and target sizes.
- RapidFire currently implements three tasks, each building skill in succession by a method called forward chaining. With forward chaining a complex series of training tasks is broken down into several, more easily managed sub-tasks. When the first sub-task is mastered, the second is introduced, when one and two together are mastered, the third is added, and so on.
- the first RF task is to touch one virtual ball in a virtual space with the tip of a virtual laparoscopic instrument.
- the virtual laparoscopic instrument is controlled by a mock laparoscopic instrument as part of a simulator hardware input device.
- the second RF task requires both (two) instrument tips to touch the same ball.
- the third RF task requires the user to grasp one ball of a dumbbell complex, then transfer the other ball to the other hand.
- Two different types of ST algorithms are disclosed herein, resulting in six RF/ST tasks in combination. Referring to Figure 1A, one of these algorithms 106 measures the speed of the user in terms of task completion, and then modifies the speed of subsequent tasks. These are called RF 1,2,3.
- a second ST algorithm 108 in Figure IB (RF 4,5,6) measures the speed of task completion, but then modifies the environment to emphasize the accuracy of subsequent tasks.
- All RF/ST tasks "train up" the weaker hand, that is if the task is not completed, the task is repeated for the same hand, but may be adjusted in terms of level of difficulty.
- the basis for the ST algorithms of RF 1,2,3 is that the target object appears for a preset amount of time, starting at about 2 seconds, for example (though the amount of time may be varied according to the invention depending upon the procedure. See Figure 1A, decision block 110). If the task in not completed in 2 seconds, the target changes color for a fraction of a second 116 and an auditory signal is generated at 118, signifying failure of that task. The time that the target is present before the failure signal(s) is then adjusted.
- the target object appears at a variable size and for a set duration.
- the size of the target(s) remains the same at 132 for the next trial.
- optional visual and/or audible alerts may be generated. If the task is completed quickly at 130, in less than one second or shorter allotted time, the targets become smaller at 134 by a certain percent, making the task more difficult. If the user requires more than 2 second to complete the task, the targets become larger at 124, making the tasks easier. Again, visual and auditory signals for success and failure may be provided. All of this is done with the intent of optimizing the learning environment for any user.
- the difficulty of the trainer starts at roughly a moderate to easy level, but as successes or failure occur, the difficulty of the settings change to a level that is challenging for that particular user. Novices may get worse for several trials then function "in a zone" that is challenging to them. Users with higher abilities or skills will transition to more difficult parameters.
- a recent improvement was incorporated for use of the invention as a research tool, teaching tool, or part of an Artificial Intelligence or Neural Net control.
- the new tool has a "graphic equalizer" appearance, and through the use of virtual slide controls, the algorithms can be further modified or biased.
- the desired reduction might be 20 percent.
- the times for target availability and adjustment may be varied.
- Each task is individually biased so that patterns of difficulty and challenge may be introduced. This allows the system to utilize sounds as motor skill training methods such as plateau effects, saturation, intermittent stressing, and more.
- the tasks for the MIST VR simulator include: Acquired Place; Transfer Place and Transversal tasks for medium and master levels.
- the three RapidFire tasks were: 1. touching a virtual sphere with a virtual laparoscopic instrument (Figure 2A); 2. touching a sphere simultaneous with both virtual laparoscopic instrument tips (Figure 2B); and 3. grasping of one sphere and transfer to the other grasper ( Figure 2C).
- Smart Tutor does not alter the physical functionality of the environment such as the physics of the instruments. Rather, Smart Tutor records performance and makes adjustments in the task environment parameters.
- the RapidFire system currently implements six tasks with difficulty levels adjusted during the performance of the task by the Smart Tutor algorithm. Both systems create an accurately scaled 3-D laparoscopic working environment displayed on a 17-inch screen placed at eye level.
- the medical students were not permitted to train more than 45 minutes in a 24 hour period.
- training was completed when subjects achieved EPC in four of the six tasks in two consecutive trials.
- MIST VR group only the Acquire Place, Transfer Place, and Traversal tasks were used and subjects were advanced from medium to master level when EPC were achieved in two of the three MIST VR tasks for two consecutive trials.
- subjects' training was complete once they were able to achieve EPC at master level on two of the three tasks on two consecutive trials.
- the novice users were assessed by a standard pre- and post-training laparoscopic paper cutting task.
- Post training the subjects completed a questionnaire regarding levels of frustration on a five point Likert scale.
- EPC Expert Performance Criteria
- RF/ST Rapid Fire/Smart Tutor
- the subjects post training survey questions and mean responses +/- standard deviation are outlined in Table 2.
- a difference in subjective frustration ratings was noted between RF/ST and MIST VR on questions 1 and 3.
- questions 4 and 5 no differences were noted when subjects were asked about level of boredom.
Abstract
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Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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US54531104P | 2004-02-17 | 2004-02-17 | |
US60/545,311 | 2004-02-17 | ||
US11/059,017 | 2005-02-16 | ||
US11/059,017 US20050181340A1 (en) | 2004-02-17 | 2005-02-16 | Adaptive simulation environment particularly suited to laparoscopic surgical procedures |
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Citations (3)
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US6556236B1 (en) * | 1992-11-16 | 2003-04-29 | Reveo, Inc. | Intelligent method and system for producing and displaying stereoscopically-multiplexed images of three-dimensional objects for use in realistic stereoscopic viewing thereof in interactive virtual reality display environments |
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2005
- 2005-02-17 WO PCT/US2005/005502 patent/WO2005081175A1/en active Application Filing
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US6556236B1 (en) * | 1992-11-16 | 2003-04-29 | Reveo, Inc. | Intelligent method and system for producing and displaying stereoscopically-multiplexed images of three-dimensional objects for use in realistic stereoscopic viewing thereof in interactive virtual reality display environments |
US5855553A (en) * | 1995-02-16 | 1999-01-05 | Hitchi, Ltd. | Remote surgery support system and method thereof |
US6074213A (en) * | 1998-08-17 | 2000-06-13 | Hon; David C. | Fractional process simulator with remote apparatus for multi-locational training of medical teams |
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