Towards engineering a portable platform for laparoscopic pre-training in virtual reality with haptic feedback

Background Laparoscopic surgery is a surgical technique in which special instruments are inserted through small incision holes inside the body.For some time,efforts have been made to improve surgical pre training through practical exercises on abstracted and reduced models.Methods The authors strive for a portable,easy to use and cost-effective Virtual Reality-based(VR)laparoscopic pre-training platform and therefore address the question of how such a system has to be designed to achieve the quality of today's gold standard using real tissue specimens.Current VR controllers are limited regarding haptic feedback.Since haptic feedback is necessary or at least beneficial for laparoscopic surgery training,the platform to be developed consists of a newly designed prototype laparoscopic VR controller with haptic feedback,a commercially available head-mounted display,a VR environment for simulating a laparoscopic surgery,and a training concept.Results To take full advantage of benefits such as repeatability and cost-effectiveness of VR-based training,the system shall not require a tissue sample for haptic feedback.It is currently calculated and visually displayed to the user in the VR environment.On the prototype controller,a first axis was provided with perceptible feedback for test purposes.Two of the prototype VR controllers can be combined to simulate a typical both-handed use case,e.g.,laparoscopic suturing.A Unity based VR prototype allows the execution of simple standard pre-trainings.Conclusions The first prototype enables full operation of a virtual laparoscopic instrument in VR.In addition,the simulation can compute simple interaction forces.Major challenges lie in a realistic real-time tissue simulation and calculation of forces for the haptic feedback.Mechanical weaknesses were identified in the first hardware prototype,which will be improved in subsequent versions.All degrees of freedom of the controller are to be provided with haptic feedback.To make forces tangible in the simulation,characteristic values need to be determined using real tissue samples.The system has yet to be validated by cross-comparing real and VR haptics with surgeons.

First experience in laparoscopic surgery in low and middle income countries: A systematic review

BACKGROUND Laparoscopic surgery has reduced morbidity and mortality rates,shorter post-operative recovery periods and lower complication rates than open surgery.It is routine practice in high-income countries and is becoming increasingly common in countries with limited resources.However,introducing laparoscopic surgery in low-and-middle-income countries(LMIC)can be expensive and requires resour-ces,equipment,and trainers.AIM To report the challenges and benefits of introducing laparoscopic surgery in LMIC as well as to identify solutions to these challenges for countries with limited finances and resources.METHODS MEDLINE,EMBASE and Cochrane databases were searched for studies reporting first experience in laparoscopic surgery in LMIC.Included studies were published between 1996 and 2022 with full text available in English.Exclusion criteria were studies considering only open surgery,ear,nose,and throat,endoscopy,arthro-scopy,hysteroscopy,cystoscopy,transplant,or bariatric surgery.RESULTS Ten studies out of 3409 screened papers,from eight LMIC were eligible for inclusion in the final analysis,totaling 2497 patients.Most reported challenges were related to costs of equipment and training programmes,equipment pro-blems such as faulty equipment,and access to surgical kits.Training-related challenges were reliance on foreign trainers and lack of locally trained surgeons and theatre staff.The benefits of introducing laparoscopic surgery were economic and clinical,including a reduction in hospital stay,complications,and morbidi-ty/mortality.The introduction of laparoscopic surgery also provided training opportunities for junior doctors.CONCLUSION Despite financial and technical challenges,many studies emphasise the overall benefit of introducing laparoscopic surgery in LMICs such as reduced hospital stay and the related lower cost for patients.While many of the clinical centres in LMICs have proposed practical solutions to the challenges reported,more support is critically required,in particular regarding training.

Understanding the effects of structured self-assessment in directed,self-regulated simulation-based training of mastoidectomy:A mixed methods study

Objective:Self-directed training represents a challenge in simulation-based training as low cognitive effort can occur when learners overrate their own level of performance.This study aims to explore the mechanisms underlying the positive effects of a structured self-assessment intervention during simulation-based training of mastoidectomy.Methods:A prospective,educational cohort study of a novice training program consisting of directed,self-regulated learning with distributed practice(5x3 procedures)in a virtual reality temporal bone simulator.The intervention consisted of structured self-assessment after each procedure using a rating form supported by small videos.Semi-structured telephone interviews upon completion of training were conducted with 13 out of 15 participants.Interviews were analysed using directed content analysis and triangulated with quantitative data on secondary task reaction time for cognitive load estimation and participants’self-assessment scores.Results:Six major themes were identified in the interviews:goal-directed behaviour,use of learning supports for scaffolding of the training,cognitive engagement,motivation from self-assessment,selfassessment bias,and feedback on self-assessment(validation).Participants seemed to self-regulate their learning by forming individual sub-goals and strategies within the overall goal of the procedure.They scaffolded their learning through the available learning supports.Finally,structured self-assessment was reported to increase the participants’cognitive engagement,which was further supported by a quantitative increase in cognitive load.Conclusions:Structured self-assessment in simulation-based surgical training of mastoidectomy seems to promote cognitive engagement and motivation in the learning task and to facilitate self-regulated learning.

A multi-screen collaboration-based low-cost portable dry-lab simulator for basic laparoscopic skills training: A technical note

Laparoscopic skills training has always been crucial for novice surgeons. Readily accessible equipment, aswell as structured training curriculum should be provided to guarantee adequate practice hours and skillproficiency. Dry-lab training is typically adopted before animal model surgery, usually comprising ofpurpose-built bulky simulators that is neither accessible nor portable. In this technical note, we designed ahome-made simulator, using two 4 L water jugs as operating space that are communicated inside, plus anobservation hole taped in between to mimic the triangular working space of laparoscopic surgery. Imagingwas achieved via smartphone camera, which was wirelessly connected to a laptop and a projector for realtime display on multiple screens, using built-in multi-screen collaboration software. A self-regulated andproficiency-based training curriculum was adopted. This dry-lab simulator is low-cost, highly portable andeasily replicable for basic laparoscopic skills training for the beginners to intermediate surgeons, whichmay serve as a good way for the standardized residency and specialist training program.

Practice,training and safety of laparoscopic surgery in low and middle-income countries

Surgical management of diseases is recognised as a major unmet need in low and middle-income countries(LMICs). Laparoscopic surgery has been present since the 1980 s and offers the benefit of minimising the morbidity and potential mortality associated with laparotomies. Laparotomies are often carried out in LMICs for diagnosis and management, due to lack of radiological investigative and intervention options. The use of laparoscopy for diagnosis and treatment is globally variable, with highincome countries using laparoscopy routinely compared with LMICs. The specific advantages of minimally invasive surgery such as lower surgical site infections and earlier return to work are of great benefit for patients in LMICs, as time lost not working could result in a family not being able to sustain themselves. Laparoscopic surgery and training is not cheap. Cost is a major barrier to healthcare access for a significant population in LMICs. Therefore, cost is usually seen as a major barrier for laparoscopic surgery to be integrated into routine practice in LMICs. The aim of this review is to focus on the practice, training and safety of laparoscopic surgery in LMICs. In addition it highlights the barriers to progress in adopting laparoscopic surgery in LMICs and how to address them.

Enhancing clinical proficiency through laparoscopic training using Japanese origami

Objective This study aimed to investigate the clinical efficacy of laparoscopic training using origami,a traditional Japanese papercraft,using laparoscopic forceps to create origami cranes.Methods In this retrospective study,4 surgeons were randomly divided into 2 groups:The training group,consisting of surgeons 1 and 2,and the non-training group,consisting of surgeons 3 and 4.Over the course of a one-year study period,the training group regularly underwent laparoscopic surgery training with a dry box,wherein they folded a total of 1000 origami cranes using laparoscopic instruments.The non-training group periodically underwent common laparoscopic surgery training of techniques such as suturing and ligation.Each surgeon regularly performed the transabdominal preperitoneal approach for inguinal hernias.Each training was conducted concurrently with the surgeries.The procedure time(peritoneum detachment,mesh placement,and closure of the peritoneum),total operation time(time from peritoneum detachment to closure of the peritoneum),and surgical outcomes were examined.Results The training group showed greater improvement in the total operation time and more stable performance than the non-training group.Additionally,the time taken for peritoneum detachment was significantly shorter in the training group.Conclusion Laparoscopic training using origami has the potential to enhance laparoscopic surgical skills and improve surgical outcomes.

Laparoscopic and robot-assisted laparoscopic digestivesurgery:Present and future directions

Laparoscopic surgery is applied today worldwide to most digestive procedures. In some of them, such as cholecystectomy, Nissen's fundoplication or obesity surgery, laparoscopy has become the standard in practice. In others, such as colon or gastric resection, the laparoscopic approach is frequently used and its usefulness is unquestionable. More complex procedures, such as esophageal, liver or pancreatic resections are, however, more infrequently performed, due to the high grade of skill necessary. As a result, there is less clinical evidence to support its implementation. In the recent years, robot-assisted laparoscopic surgery has been increasingly applied, again with little evidence for comparison with the conventional laparoscopic approach. This review will focus on the complex digestive procedures as well as those whose use in standard practice could be more controversial. Also novel robot-assisted procedures will be updated.

Is There an Improvement in Patient Survival/Code Blue Activation after Training Based on Simulation (Basic Life Support—BLS) Based Practice of Cardiopulmonary Resuscitation?

Background and Aim: The only way to survive a sudden cardiac arrest is when the CPR is performed immediately after the arrest. The focus of the present research study is to assess the effectiveness of a pre- and post-simulation-based BLS training (BLS) and the outcome was measured on the basis of patient survival after the cardiac arrest. Study Design: This pre- and post-training BLS/CPR training study enrolled all nursing staff, all hospital residents, internees, throughout the hospital in a simulation-based BLS training as per the standards of American Heart Association (AHA), to make them respond to immediate resuscitation and code blue activation during the cardiac arrest within the hospital premises including ED, wards, ICUs, MRI, CT and all miscellaneous areas. The providers completed self-efficacy questionnaires as per the AHA protocol before being certified and were evaluated during the emergency in hospital cardiopulmonary arrest. Results: 296 nursing staff, 206 non-healthcare professionals, 143 residents, 212 internees, and 98 medical staff grade doctors completed the BLS training (total 955 hospital staff—providers) were graded for the response by pre- and post-training testing. In the course of pre-BLS training period out of the 250 cardiac arrest patients, 68 patients (27.2%) had ROSC, while after instituting the BLS training period, 143 individuals (40.86%) of the 350 patients who had cardiac arrest had ROSC (p < 0.05). Conclusion: A simulation-based CPR and BLS training curriculum greatly improves patient outcome by reducing mortality and morbidity with improved subjectivity, self-efficiency along with the objective assessment of the performance scores during acute cardiac arrest in Emergency Cardiovascular Care (ECC).

Usefulness of Detailed Analysis with Operative Procedure of Total Laparoscopic Hysterectomy (TLH) Done a Single Surgeon, to Master the Surgical Technique of TLH and Gain Higher Proficiency

Objective: To analyze the relationship between the numbers of cases experienced and the operation time for a single surgeon aiming to master the TLH surgical technique. Material and Methods: Retrospective data analysis of women who underwent TLH for benign diseases between April, 2014 and March, 2016 was conducted by a single surgeon in a single hospital (Showa University of Fujigaoka Hospital). We divided the main procedures of the TLH operation into five sections, and measured the time required for each section. These cases were divided into three groups, group 1, 2, and 3. Results: There were 54 cases of TLH over two years for a single surgeon, and 21 cases that included essential operative procedures were divided into three groups of seven cases each. The average duration of the surgery (min.) was 178.3 ± 48.2 in the group 1, 128.3 ± 15.6 in the group 2, and 111.3 ± 15.9 in the group 3. A significant reduction in the required time was observed between group 1, 2, and 3 groups. As the number of cases increased, the operation time became statistically significantly shorter for every section except B and D. The skill growth rate was different at each section. Conclusion: For a single surgeon, as the number of surgical cases increased, we recognized the increased skill with the procedure in every section and the rate of skill growth differed for different sections. The difference of growth rate for each section implied that the number of operative cases required for a surgeon in each section was different.

The Relationship between Presence and Performance in Virtual Simulation Training

The use of virtual simulation-based training continues to expand, as organizations explore alternative methods to reduce the cost of training. While virtual simulation has been empirically validated to be effective in the transfer of skills to the live environment, what is still unknown is what effect, if any, that an individual’s sense of presence in the simulation has on their performance. In this paper, we examine the relationship between presence and performance while performing a psychomotor task in a virtual environment. The independent variables were visual display and expertise level. The dependent variables were presence and performance. We found evidence of a moderate relationship between the degree of presence experienced in the simulation and an individual’s performance over three training trials. Results of this study may inspire future research to investigate whether higher presence in virtual simulation results in higher performance.

Performance of single versus two operators in laparoscopic surgery

Aim:To examine the significance of team collaboration in the context of complex laparoscopic surgery,laparoscopic tasks performed by single operators are compared against that of dyad teams.Methods:The laparoscopic tasks require subjects to reach,grasp and transport a ring through a rollercoaster obstacle using a pair of laparoscopic graspers.The task was performed either bimanually(using both hands)or unimanually(using their preferred hands)in a dyad team.Results:Twelve participants completed all the tasks.The dyad teams recorded significantly greater number of anticipatory movements than individuals who performed the task bimanually(p<0.05).However,there is no significant difference in the task completion time(p=0.701)and the number of errors(p=0.860)recorded between the dyad and the bimanual group.Conclusion:Compared to a single operator,dyad operators performed the task with greater number of anticipatory movements.The increased movement synchronization can help benefit surgical education and team training.

Direct Instruction by an Experienced Surgeon Can Shorten the Learning Curve for Laparoscopic-Assisted Distal Gastrectomy

Aim: Laparoscopy-assisted distal gastrectomy (LADG) with regional lymph node dissection is a treatment option for patient with early gastric cancer. However, LADG is a technically complex and advanced procedure, which is challenging for inexperienced surgeons. In this report, we retrospectively evaluated the learning curve for LADG of a single surgeon with no previous experience in LADG and the usefulness of direct instruction by a surgeon experienced in LADG in shortening the learning curve. Patients and Methods: This study was analyzed 80 consecutive patients, who underwent LADG by a single surgeon (first assistant in 10 cases and operator in 70 cases) between January 2008 and December 2012. Patients were divided into 3 sequential groups of 10 (training period), 30 (learning period), and 40 (operating period) cases in each group. Median operation time and estimated blood loss for these 3 groups were determined. Other learning indicators, including transfusion requirement, postoperative complications, number of lymph node harvested, and rate of conversion open gastrectomy, were also evaluated. Results: During the training period, median operation time and estimated blood loss were 219.5 min and 83.0 ml, respectively. During the learning period, the operation time was significantly longer than that of training period. In the operating period, the operation time was significantly lesser than that during the learning period. However, the operation time was not different from that during the training period and reached a plateau. The estimated blood loss during the operating period was significantly lesser than that during the learning period. The difference in the number of lymph nodes retrieved between each group was not significant. Conclusions: Direct instructions by an experienced surgeon can decrease the number of cases required for learning. Because LADG is technically more complex than other laparoscopic procedures, standardization of LADG and an effective training system for performing it should be established.

互联网+微格教学法结合复盘教学方式在外科腹腔镜技能培训中的应用

目的:探讨互联网+微格教学法结合复盘教学方式在外科腹腔镜技能培训的应用效果。方法:选取在本院普通外科进行住院医师规范化培训且既往未受过其他腹腔镜培训的2020级学员30名,随机分为对照组及试验组,每组15人。对照组依照传统培训方式进行技能培训,试验组采用互联网+微格教学法结合复盘教学方式进行培训。分别于培训初始时,培训第8周对两组学员进行操作考核,所有培训结束后对两组学员进行满意度调查。分析两组学员的考核成绩以及教学满意度调查结果。结果:每个模块的考核成绩试验组均明显优于对照组(P<0.001);满意度方面,试验组在培训的教学方式、培训内容的兴趣程度、课程氛围、提升腔镜技能水平、学习成就感层面结果优于对照组(P<0.05)。结论:互联网+微格教学法结合复盘教学方式可以有效地提高学员腹腔镜技能操作水平,提升学员的学习兴趣,培养其主动学习能力,是值得应用的教学方法。

机器人辅助手术系统在新生儿外科住院医师规范化培训中的应用

目的探讨机器人辅助手术系统在新生儿外科住院医师规范化培训中的应用效果。方法选取浙江大学医学院附属儿童医院新生儿外科轮转的32名住院规范化培训医师作为研究对象,随机分成观察组和对照组,每组16名学员。观察组应用机器人辅助手术系统教学,对照组应用传统腹腔镜手术系统教学。出科时对两组学员进行考核,并对教学效果实施问卷调查评价。结果观察组学员的手术技能评分明显高于对照组,差异有统计学意义(t=6.97,P<0.05),观察组学员对机器人手术教学的满意度高于对照组,差异有统计学意义(χ^(2)=4.57,P<0.05)。观察组学员在提高自主学习能力、有助于消化道畸形理论知识与手术技能的衔接、有助于增加医学兴趣3个方面的教学效果评分高于对照组,差异均有统计学意义(t分别=4.95、3.35、6.79,P均<0.05)。结论机器人辅助手术系统在新生儿外科住院医师规范化培训临床教学中有一定的优势,主要体现在帮助住院规范化培训学员将理论知识与临床技能衔接、提高学习主动性和兴趣等方面。应用机器人辅助手术系统在日常教学中有助于新医科背景下的新生儿外科学科建设。

基于虚拟现实技术的腹腔镜模拟操作训练与传统训练在小儿泌尿微创手术教学中的应用对比

目的:比较基于虚拟现实技术的腹腔镜模拟操作训练与传统训练在小儿泌尿微创手术教学中的应用效果。方法:回顾性分析2020年9月至2023年9月在上海交通大学医学院附属瑞金医院(传统组)及中国人民解放军总医院第七医学中心(混合组)参加小儿泌尿外科微创技术培训的学员参训数据,共24名学员纳入研究,其中传统组10名,混合组14名,均无腹腔镜主刀手术经验。传统组全程以传统腹腔镜训练模拟器进行训练,混合组采用传统腹腔镜结合LapSim虚拟现实技术进行训练。比较两组学员基线数据、项目结业考核手术操作及患者围术期数据,手术操作视频评分参考整体腹腔镜技能评分表(GOALS),由同一位考官进行评估。统计学方法采用t检验、卡方检验和Fisher精确检验。结果:两组学员的年龄、性别、学历、职称比较差异均无统计学意义(P值分别为0.576、1.000、1.000、0.615)。两组参加培训项目时长均为3个月(其中48学时操作训练)。考核手术为腹腔镜下睾丸下降固定术,两组平均手术时间、患儿术后1周超声情况比较差异均无统计学意义(P值分别为0.070、0.417);两组学员GOALS评分传统组平均为(16.4±1.3)分,混合组平均为(17.9±1.0)分,差异有统计学意义(t=3.312,P=0.003);两组GOALS评分分项双手协调性、操作效率、组织损伤控制、独立完成手术能力比较差异无统计学意义(P值分别为0.636、0.862、0.089、0.278);传统组深度感知评分平均为(3.2±0.6)分,混合组平均为(3.8±0.7)分,两组比较差异有统计学意义(t=2.103,P=0.047)。结论:综合利用传统腹腔镜训练模拟器结合虚拟现实模拟操作训练可以更加高效地进行儿童泌尿外科微创技术训练,具有一定的临床推广意义。

ASC-Net:腹腔镜视频中手术器械与脏器快速分割网络

腹腔镜手术自动化是智能外科的重要组成部分,其前提是腔镜视野下手术器械与脏器实时精准分割。受术中血液污染、烟雾干扰等复杂因素影响,器械与脏器实时精准分割面临巨大挑战,现有图像分割方法均表现不佳。因此提出一种基于注意力感知与空间通道的快速分割网络(ASC-Net),以实现腹腔镜图像中器械和脏器快速精准分割。在UNet架构下,设计了注意力感知与空间通道模块,通过跳跃连接将二者嵌入编码与解码模块间,使网络重点关注图像中相似目标间深层语义信息差异,同时多维度学习各目标的多尺度特征。此外,采用预训练微调策略,减小网络计算量。实验结果表明:在EndoVis2018数据集上的平均骰子系数(mDice)、平均重叠度(mIoU)、平均推理时间(mIT)分别为90.64%,86.40%和16.73 ms (60帧/秒),相比于现有最先进方法,mDice与mIoU提升了26%与39%,且mIT降低了56%;在AutoLaparo数据集上的mDice,mIoU和mIT分别为93.72%,89.43%和16.41ms(61帧/秒),同样优于对比方法。该方法在保证分割速度的同时有效提升了分割精度,实现了腹腔镜图像中手术器械和脏器的快速精准分割,将助力腹腔镜手术自动化快速发展。

腹腔镜技能培训评价指标体系的构建

目的:建立腹腔镜技能培训评价指标体系。方法:通过查阅文献、Delphi法等方法建立腹腔镜技能培训评价指标体系,利用层次分析法确定各级指标的权重。利用该指标体系对3家培训机构2020年度腹腔镜技能培训相关数据进行评价,采用TOPSIS法分析其评价效果。结果:建立了一套由3个一级指标、7个二级指标、29个三级指标组成的腹腔镜技能培训评价指标体系;一级指标包括支持与保障、制定与实施、质控与管理,其权重分别为0.182、0.455和0.363,一致性指标为0.03。TOPSIS法结果显示腹腔镜技能培训效果机构B>机构A>机构C。结论:建立的腹腔镜技能培训评价指标体系具有较好的科学性和应用价值。

加速康复外科对腹腔镜结直肠癌根治术后患者康复效果及生活质量的影响

目的探讨加速康复外科对腹腔镜结直肠癌根治术后患者康复效果及生活质量的影响。方法选取2018年11月—2023年7月沛县人民医院行腹腔镜手术的40例结直肠癌患者为研究对象,按照随机数表法分为对照组和研究组,每组20例。对照组术后给予常规干预,研究组术后在加速康复外科指导下进行康复训练,比较两组术后2周康复效果、术后3个月生活质量、康复期间并发症发生率。结果研究组术后2周康复效果优于对照组,差异有统计学意义(P<0.05)。研究组术后3个月生活质量评分中生理功能、生理职能、躯体疼痛、总体健康、活力、社会功能、情感职能、精神健康均高于对照组,差异有统计学意义(P均<0.05)。两组患者康复期间并发症发生率比较,差异无统计学意义(P>0.05)。结论加速康复外科能促进结直肠癌患者术后康复,提高术后近期生活质量,且不会增加术后并发症风险。

野战条件下开展动物腹腔镜手术的方法体会

目的总结野战条件下开展动物腹腔镜手术的方法,为野战条件下使用腹腔镜救治闭合性腹部战创伤进行探索。方法在医疗队外训期间,选择山羊3只(A、B、C),每只山羊实施两次手术,两次手术间隔2天,使用临床常用麻醉药进行不插管全麻,麻醉成功后首先对腹腔进行探查,采用人工方法建立肠破裂模型,对破裂肠壁进行缝合。记录山羊的血氧饱和度、心率、术中体动次数、出血量,记录腹腔探查时间、手术时间(开始切皮至缝皮结束时间)。结果3只山羊术中生命体征平稳,麻醉及手术过程顺利,术后苏醒迅速,抬离手术台后均能站立行走,正常存活。结论在不插管全麻条件下开展动物腹腔镜手术,麻醉管理方便,腹部战创伤手术全流程训练均可实现,表明野战条件下使用腹腔镜救治腹部战创伤具有可行性。

一种达芬奇手术机器人培训用打孔定位装置的设计

目的:设计一种达芬奇手术机器人培训用打孔定位装置,以提高手术机器人操作培训的效率和精度。方法:该装置主要由腹围带、连接板、打孔板、定位盘和戳卡筒等部分组成。腹围带设计为长条状,由弹性尼龙伸缩松紧带制成;连接板呈长方形,其长度方向与腹围带垂直;打孔板同样呈长方形,由硬质硅胶制成;定位盘由硬质硅胶制成,并开设有通孔;戳卡筒上设置由加热丝和支撑条组成的防雾组件,且内部设置有刻度条。将10名医师随机分为对照组和实验组,每组5人,对照组采用传统测量法进行定位、打孔操作,实验组使用该装置进行定位、打孔操作。对比2组的定位打孔时间、镜头起雾比率和机械臂碰撞次数。结果:与对照组相比,实验组的定位打孔时间和镜头起雾比率均显著降低,差异有统计学意义(P<0.05);实验组的机械手臂碰撞次数与对照组相比差异无统计学意义(P>0.05),符合培训规范。结论:该装置提升了手术机器人操作培训的效率和精度,适合在手术机器人操作培训中进一步应用与推广。