A dual-user teleoperation system with Online Authority Adjustment for haptic training.

This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA): the authority can be adjusted manually/automatically during the training progress. Experimental results are provided to validate the performances of the system.

A compact active stereovision system with dynamic reconfiguration for endoscopy or colonoscopy applications.

A new concept of endoscopic device based on a compact optical probe which can capture 3D shape of objects using an active stereovision method is presented. The distinctive feature of this probe is its capability to dynamically switch between two distinct points of view. If the first measurement angle of view does not give results with sufficient quality, the system can switch to a second mode which sets distinct angle of view within less than 25 milliseconds. This feature consequently allows selecting the angle that provides the more useful 3D information and enhances the quality of the captured result. The instrumental setup of this measurement system and the reconstruction algorithms are presented in this paper. Then, the advantages of this new endoscopic probe are explained with an experimental 3D reconstruction of a coin's surface. Finally, first measurements on a phantom colon are provided. In future works, further miniaturization of the device and its integration into a real colonoscope will be implemented.

A new design for the BirthSIM simulator to improve realism.

This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and inverse geometric models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The inverse geometric model allows to compute the actuators displacements and thus to validate the chosen components.

Biomechanical simulation of the fetal descent without imposed theoretical trajectory.

The medical training concerning childbirth for young obstetricians involves performing real deliveries, under supervision. This medical procedure becomes more complicated when instrumented deliveries requiring the use of forceps or suction cups become necessary. For this reason, the use of a versatile, configurable childbirth simulator, taking into account different anatomical and pathological cases, would provide an important benefit in the training of obstetricians, and improve medical procedures. The production of this type of simulator should be generally based on a computerized birth simulation, enabling the computation of the reproductive organs deformation of the parturient woman and fetal interactions as well as the calculation of efforts produced during the second stage of labor. In this paper, we present a geometrical and biomechanical modeling of the main parturient's organs involved in the birth process, interacting with the fetus. Instead of searching for absolute precision, we search to find a good compromise between accuracy and model complexity. At this stage, to verify the correctness of our hypothesis, we use finite element analysis because of its reliability, precision and stability. Moreover, our study improves the previous work carried out on childbirth simulators because: (a) our childbirth model takes into account all the major organs involved in birth process, thus potentially enabling different childbirth scenarios; (b) fetal head is not treated as a rigid body and its motion is computed by taking into account realistic boundary conditions, i.e. we do not impose a pre-computed fetal trajectory; (c) we take into account the cyclic uterine contractions as well as voluntary efforts produced by the muscles of the abdomen; (d) a slight pressure is added inside the abdomen, representing the residual muscle tone. The next stage of our work will concern the optimization of our numerical resolution approach to obtain interactive time simulation, enabling it to be coupled to our haptic device.

Does forceps training on a birth simulator allow obstetricians to improve forceps blade placement?

OBJECTIVE: The aim of this study was to evaluate whether forceps training on a birth simulator allows obstetricians to improve forceps blade placement. STUDY DESIGN: Analysis was based on 600 forceps blade placements performed by ten trainees on a simulator. The trajectories used by the trainees were assessed using reference spheres that reflected an optimal bimalar placement. Three definitions of success were used: small-sphere success, medium-sphere success and large-sphere success were respectively defined by the forceps blade tip being within 5, 10 or 15mm of the center of the sphere (the small-sphere being nested within the medium-sphere and the small and medium being nested within the large-sphere). Wilcoxon paired analysis was performed to compare the first (50 trajectories) and final (50 trajectories) sets of five forceps placements. Graphical representation and linear regression were used to visualize the learning process. RESULTS: 596 trajectories were available for analysis. During the last set of five forceps the success rate was respectively 28%, 72% and 86% for small-sphere, medium-sphere and large-sphere success with the right blade and 8%, 32% and 70% for the left blade. Wilcoxon analysis showed a highly significant improvement for all kinds of success in the right blade and for large-sphere success in the left blade. Linear regression slopes were significant. Using a projection, the theoretical numbers of placements needed to achieve a 100% success rate for small-sphere, medium-sphere and large-sphere were respectively 80, 45 and 35. CONCLUSION: These results strongly suggest that performing forceps blade placement on birth simulator allows obstetricians to improve their skills.

Simulation of an instrumental childbirth for the training of the forceps extraction: control algorithm and evaluation.

This paper presents the control algorithm implanted on the childbirth simulator BirthSIM in order to provide training to novice obstetricians. The forceps extraction is an obstetric manipulation learned by experience. However, nowadays the training is mainly provided during real childbirths. This kind of training could lead to dramatic consequences due to the lack of experience of some operators. This paper explains the approach that has been used to simulate the dynamic process of a childbirth on the BirthSIM simulator. We especially focus on one procedure that reproduces a difficult instrumental delivery. The recorded tractive force to extract the fetus corresponds to the literature results that confirm the realism of the simulator. The novice results emphasize the need of a childbirth simulator in order to gain initial experience without any risks.

Design of a new instrumented forceps: application to safe obstetrical forceps blade placement.

Today, medical simulators are increasingly gaining appeal in clinical settings. In obstetrics childbirth simulators provide a training and research tool for comparing various techniques that use obstetrical instruments or validating new methods. Especially in the case of difficult deliveries, the use of obstetrical instruments-such as forceps, spatulas, and vacuum extractors-has become essential. However, such instruments increase the risk of injury to both the mother and fetus. Only clinical experience acquired in the delivery room enables health professionals to reduce this risk. In this context, we have developed, in collaboration with researchers and physicians, a new type of instrumented forceps that offers new solutions for training obstetricians in the safe performance of forceps deliveries. This paper focuses on the design of this instrumented forceps, coupled with the BirthSIM simulator. This instrumented forceps allows to study its displacement inside the maternal pelvis. Methods for analyzing the operator repeatability and to compare forceps blade placements to a reference one are developed. The results highlight the need of teaching tools to adequately train novice obstetricians.

A new obstetric forceps for the training of junior doctors: a comparison of the spatial dispersion of forceps blade trajectories between junior and senior obstetricians.

OBJECTIVE: The purpose of this study was to create a new instrument for the training of doctors in the use of forceps and to compare the trajectories of forceps blades between junior and senior obstetricians. STUDY DESIGN: We equipped a simulator and forceps with spatial location sensors. The head of the fetus was in an occipitoanterior location, at a "+5" station. Forceps blade trajectories were analyzed subjectively with the 3-dimensional spatial graph and objectively based on 3 points of special interest. Each obstetrician performed 4 forceps blades placements. We compared the trajectories of junior and senior obstetricians. RESULTS: For senior operators, spatial dispersion was "excellent," "very good," or "good" in 92% of cases, whereas this was the case for only 38% of junior doctors (92% vs 38%; P < .001). CONCLUSION: A new instrument has been designed to demonstrate the trajectory of forceps blades during application in a simulator. The instrument captures the difference in experience between senior and junior clinicians.

A new kind of training for obstetric residents: simulator training.

This paper presents work resulting from a collaboration between obstetricians and researchers. It shows the benefits from the use of an instrumented childbirth simulator for the training of obstetricians and midwives. This new tool allows to surpass the constraints linked to the traditional training in a childbirth ward. This simulator training is designed to complete the traditional training used in teaching hospitals. Such a training allows residents to acquire a beginning experience before training in a childbirth ward but it also allows instructors to improve the teaching gestures without constraints. A clinical study of the forceps blades placement gesture with several residents who trained on a childbirth simulator is made. The results clearly show the progress in the obstetric gestures of all the residents who have used the simulator.

Birth simulator: reliability of transvaginal assessment of fetal head station as defined by the American College of Obstetricians and Gynecologists classification.

OBJECTIVE: This study was undertaken to investigate the reliability of transvaginal assessment of fetal head station by using a newly designed birth simulator. STUDY DESIGN: This prospective study involved 32 residents and 25 attending physicians. Each operator was given all 11 possible fetal stations in random order. A fetal head mannequin was placed in 1 of the 11 American College of Obstetricians and Gynecologists (ACOG) stations (-5 to +5) in a birth simulator equipped with real-time miniaturized sensor. The operator then determined head position clinically using the ACOG classification. Head position was described as: (1) "engaged" or "nonengaged" (engagement code); (2) "high," "mid," "low," or "outlet" (group code); and (3) according to the 11 ACOG ischial spine stations (numerical code). Errors were defined as differences between the stations given by the sensor and by the operator. We determined the error rates for the 3 codes. RESULTS: "Numerical" errors occurred in 50% to 88% of cases for residents and in 36% to 80% of cases for attending physicians, depending on the position. The mean "group" error was 30% (95% CI 25%-35%) for residents and 34% (95% CI 27%-41%) for attending physicians. In most cases (87.5% for residents and 66.8% for attending physicians) of misdiagnosis of "high" station, the "mid" station was retained. Residents and attending physicians made an average of 12% of "engagement" errors, equally distributed between false diagnosis of engagement and nonengagement. CONCLUSION: Our results show that transvaginal assessment of fetal head station is poorly reliable, meaning clinical training should be promoted. The choice not to perform vaginal delivery when the fetus is in the "mid" position strongly decreases the risk of applying instruments on an undiagnosed "high" station. Conversely, obstetricians who perform only "low" operative vaginal deliveries also deliver unrecognized "mid" station fetuses. Therefore, residency programs should offer training in "mid" pelvic operative vaginal deliveries. Birth simulators could be used in training programs.