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Laparoscopic Surgery Training System

Laparoscopic Surgery Training System. MediTronics Inc. CEO Alexander Hahn CTO Mark Jung CFO Han-Lim Lee April 2007. Roles in Project.

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Laparoscopic Surgery Training System

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  1. Laparoscopic Surgery Training System MediTronics Inc. CEO Alexander Hahn CTO Mark Jung CFO Han-Lim Lee April 2007

  2. Roles in Project • Alexander Hahn (CEO) - Software developer, Technical writing • Mark Jung (CTO) - Software and Hardware developer, Finance Management • Han-Lim Lee (CFO) - Hardware developer, Time management

  3. Presentation Outline • Background • Goals • Proposed Solution • System Overview • Hardware • Software • Business Case • Budget/Timeline • Conclusion

  4. What’s Laparoscopic Surgery? • Minimally invasive surgery • Gas-inflated abdomen • Laparoscope and tools

  5. Why Laparoscopic Surgery? Small incision • Speed up recovery times • Minimize post-operative pain • Reduce the chances of infection • Minimize the size of scars

  6. The Problems Unusual surgery environment

  7. The Problems Difficulty in use of the tools

  8. Current Systems in the market • Pure simulation software - Limitation in getting hands-on experience - Lack of physical feeling • Pure physical training system - No automated feedback - Eye examination required

  9. Goals • Providing an physical training system • Providing an automated feedback & evaluation system A hybrid training system of physical and virtual feature

  10. System Overview SurgiBox Computer

  11. Tools System Overview

  12. FSR sensor System Overview

  13. System Overview Sensor feedback circuitry

  14. System Overview Moving task

  15. System Overview Cutting task

  16. System Overview Suturing task

  17. Overall System

  18. Hardware Outline • Hardware System Overview • Force during surgeries • FSR vs Strain Gauge • FSR Verification • Transmitter and Receiver Circuit • Alternative Design Option • Possible Future Work

  19. H.W. System Overview

  20. Force During Surgeries • Highest Force Peak = 2.3 N • Lowest Force Peak = 0.2 N • For liver, as low as 0.05 N http://www.mech.kuleuven.be/micro/pub/medic/Paper_Eurosenso s_2003_MIS_sensor_extended.pdf.

  21. Force Limit Maximum Force measured to tear off beef 2.0 N ( 0.2N < 2.0N <2.3N) 2.0 N is set as a force limit and correspond to 2.9 Voltin the system.

  22. Force Sensing Resistor How to measure force? VS FSR Strain Gauge • http://www.drrobot.com/products_item.asp?itemNumber=FSR400 • http://www.omega.com/literature/transactions/volume3/strain.html

  23. Force Sensing Resistor Advantage: • Cheaper • Ideal for our system Advantage: • Smaller in Size FSR Strain Gauge Disadvantage: • Bigger than Semi-conductor S.G. Disadvantage: • Strain Changes without Gripping

  24. FSR Verification FSR 400 is used and currently the smallest fsr in the market

  25. FSR Verification

  26. Transmitter and Receiver Transmitter Side: • Force on the gripper is compared with our limit force (2.9V) • Analog to digital conversion • Transfer signal serially to the receiver

  27. Transmitter and Receiver Transmitter Side:

  28. Transmitter and Receiver Receiver Side: • Transfer the received data to pc through serial port • Receives signal from transmitter when limit exceeds

  29. Transmitter and Receiver Receiver Side:

  30. Transmitter connected with tool Transmitter and Receiver

  31. FSR attached on tool tip Transmitter and Receiver

  32. Transmitter and Receiver Transmitter from top-view

  33. Receiver with serial port connected Transmitter and Receiver

  34. Alternative Design Option Without using RF module

  35. Alternative Design Option Use PCB instead of Vector Board

  36. Future Work - Hardware • Use both FSR and Strain Gauge • Research and experiment on real human tissue for setting force limit • Varying force limit according to different surgery types • PCB instead of vector board • Research on smaller FSR or other components to measure force

  37. Test Program – Moving Task Before moving task After moving task

  38. Test Program – Cutting Task Before cutting task After cutting task

  39. Test Program – Suturing Task Before suturing task After suturing task

  40. Image Processing • Final Solution : Colour Quantization • Simple • Effective 

  41. User Interface • Simple Interface • Main Control “The Green Arrow”

  42. User Interface • Task Selection • Very Basic Controls

  43. User Interface • Task Mode

  44. Evaluation • Performance time – timer in the test program • Gripping force – FSR sensor • Accuracy – Image processing

  45. Evaluation • Quality > Speed

  46. Problems Encountered • Difficult Programming Language • MFC • Serial Data Collection • FSR Sensor Data • Image Processing • Colours • Complexity

  47. Future Work - Software • Modifying our test programs - providing random shape for cutting - various target locations for moving • Add new test programs - Knot tying - Suction • Add more feedback sensors - Checking tightness of suturing/tying task

  48. Budget

  49. Market Plan • Target market - Hospital - Medical school - Research Laboratory • Provide an on-site training

  50. Competitors • Simulab Corporation • Physical training system with digital camera (excluding PC) • $1795.00 http://www.simulab.com/LaparoscopicSurgery.htm

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