Publications

@article{1_98,
title = {Pilot Evaluation Study of a Virtual Paracentesis Simulator for Skill Training and Assessment: The Beneficial Effect of Haptic Display},
author = {Costas S Tzafestas and Kostas Birbas and Yiannis Koumpouros and Dimitri Christopoulos},
url = {http://ezproxy.lib.swin.edu.au/login?url=http://search.ebscohost.com/login.aspx?direct=true&db=a9h&AN=31446380&site=ehost-live&scope=site},
isbn = {10547460},
year = {2008},
date = {2008-01-01},
journal = {Presence: Teleoperators & Virtual Environments},
volume = {17},
number = {2},
pages = {212--229},
abstract = {Effective, real-time training of health care professionals in invasive procedures is a challenging task. Furthermore, assessing in practice the acquisition of the dexterity and skills required to safely perform such operations is particularly difficult to perform objectively and reliably. The development of virtual reality (VR) simulators offers great potential toward these objectives, and can help bypass some of the difficulties associated with classical surgical training and assessment procedures. In this context, we have developed a prototype VR simulator platform for training in a class of invasive procedures, such as accessing central vessels. This paper focuses more particularly on a pilot study treating the specific application case of subclavian vein paracentesis. The simulation incorporates 3D models of all the human anatomy structures involved in this procedure, where collision detection and response algorithms are implemented to simulate most of the potential complications in accordance with the situations encountered in real clinical practice. Furthermore, haptic display is integrated using a typical force feedback device providing the user with a sense of touch during the simulated operations. Our main objective in this study was to obtain quantitative evaluation results regarding the effect of haptic display on performance. Two user groups participated in the study: (I) novice users and (II) experienced surgeons. The system automatically provides quantitative assessment scores of users' performance, applying a set of objective measures that also involve the optimality of the needle insertion path and indicators of maneuvering errors. Training and skill assessment performance of the system is evaluated in a twofold manner, regarding respectively: (a) the learning curve of novice users, and (b) the correlation of the system-generated scores with the actual surgical experience of the user. These performance indicators are assessed with respect to the activation of the haptic display and to whether this has any beneficial effect (or not). The experimental findings of this first pilot study provide quantitative evidence about the significance of haptic display, not only as a means to enhance the realism of the surgical simulation, but especially as an irreplaceable component for achieving objective and reliable skill assessment. Further larger-scale and long-term clinical studies are needed to validate the effectiveness of such platforms for actual training and dexterity enhancement, particularly when more complex sensorimotor skills are involved. [ABSTRACT FROM AUTHOR] Copyright of Presence: Teleoperators & Virtual Environments is the property of MIT Press and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{0_49,
title = {Whole-Hand Kinesthetic Feedback and Haptic Perception in Dextrous Virtual Manipulation},
author = {Costas S Tzafestas},
url = {http://robotics.ntua.gr/wp-content/uploads/publications/Tzafestas_TSMC-A-2003_01206459.pdf},
doi = {10.1109/TSMCA.2003.812600},
issn = {10834427},
year = {2003},
date = {2003-01-01},
journal = {IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans.},
volume = {33},
number = {1},
pages = {100--113},
abstract = {One of the key requirements for a Virtual Reality system is the multimodal, real-time interaction between the human operator and a computer simulated and animated environment. This paper investigates problems related particularly to the haptic interaction between the human operator and a virtual environment. The work presented here focuses on two issues: 1) the synthesis of whole-hand kinesthetic feedback, based on the application of forces (torques) on individual phalanges (joints) of the human hand, and 2) the experimental evaluation of this haptic feedback system, in terms of human haptic perception of virtual physical properties (such as the weight of a virtual manipulated object), using psychophysical methods. The proposed kinesthetic feedback methodology is based on the solution of a generalized force distribution problem for the human hand during virtual manipulation tasks. The solution is computationally efficient and has been experimentally implemented using an exoskeleton force-feedback glove. A series of experiments is reported concerning the perception of weight of manipulated virtual objects and the obtained results demonstrate the feasibility of the concept. Issues related to the use of sensory substitution techniques for the application of haptic feedback on the human hand are also discussed.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}