Research Papers

Optimization of Manipulability in the Design of a Surgery Trainer Based on Virtual Reality

[+] Author and Article Information
Jose San Martin

GMRV-Modeling and Virtual Reality Group,
Department of Computers Architecture,
University Rey Juan Carlos,
Mostoles, Madrid 28933 Spain
e-mail: jose.sanmartin@urjc.es

Gracian Trivino

European Centre for Soft Computing,
Mieres, Asturias 33600 Spain
e-mail: gracian.trivino@softcomputing.es

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the Journal of Computing and Information Science in Engineering. Manuscript received April 11, 2011; final manuscript received August 2, 2012; published online September 18, 2012. Assoc. Editor: Kazuhiro Saitou.

J. Comput. Inf. Sci. Eng 12(4), 041001 (Sep 18, 2012) (10 pages) doi:10.1115/1.4007401 History: Received April 11, 2011; Revised August 02, 2012

In the field of minimally invasive surgery (MIS), trainers based on virtual reality provide a very useful, nondegradable, realistic training environment. The project of building this new type of trainers requires the development of new tools. In this paper, we describe a set of new measures that allow calculating the optimal position and orientation of haptic devices versus the virtual workspace of the application. We illustrate the use of these new tools applying them to a practical application.

Copyright © 2012 by ASME
Your Session has timed out. Please sign back in to continue.


Moore, M. J., and Bennett, C. L., 1995, “The Learning Curve for Laparoscopic Cholecystectomy,” Am. J. Surg., 170(1), pp. 55–59. [CrossRef] [PubMed]
Basdogan, C., De, S., Kim, J., Manivannan, M., Kim, H., and Srinivasan, M. A., 2004, “Haptics in Minimally Invasive Surgical Simulation and Training,” Comput. Graph. Appl.24(2), pp. 56–64. [CrossRef]
Agha, R., and Muir, G., 2003, “Does Laparoscopic Surgery Spell the End of the Open Surgeon?,” J. R. Soc. Med.96, pp. 544–546. [CrossRef] [PubMed]
Ahlberg, G., Heikkinen, T., Iselius, L., Leijonmarck, C. E., Rutqvist, J., and Arvidsson, D., 2002, “Does Training in a Virtual Reality Simulator Improve Surgical Performance?,” Surg. Endosc., 16, pp. 126–129. [CrossRef] [PubMed]
Rosen, J., Hannaford, B., MacFarlane, M. P., and Sinanan, M., 1999, “Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery-Experimental Performance Evaluation,” IEEE Trans. Biomed. Eng., 46, pp. 1212–1221. [CrossRef] [PubMed]
Burdea, G., Patounakis, G., Popescu, V., and Weiss, R. E., 1999, “Virtual Reality-Based Training for the Diagnosis of Prostate Cancer,” IEEE Trans. Biomed. Eng., 46, pp. 1253–1260. [CrossRef] [PubMed]
Fodero, K., II, King, H., Lum, M., Bland, C., Rosen, J., Sinanan, M., and Hannaford, B., 2006, “Control System Architecture for a Minimally Invasive Surgical Robot,” Proceedings of Medicine Meets Virtual Realit y.
Ward, J., Wills, D., Sherman, K., and Mohsen, A., 1998, “The Development of an Arthroscopic Surgical Simulator With Haptic Feedback,” Future Gener. Comput. Syst., 14(3,4), pp. 243–251. [CrossRef]
Vlachos, K., Papadopoulos, E., and Mitropoulos, D. N., 2003, “Design and Implementation of a Haptic Device for Training in Urological Operations,” IEEE Trans. Rob. Autom., 19, pp. 801–809. [CrossRef]
Trumbower, R., and Enderle, J., 2003, “Recent Advances and Directions in Biomedical Engineering Education,” IEEE Eng. Med. Biol. Mag., 22, pp. 30–31. [CrossRef] [PubMed]
Grace, P., Borley, N., and Grace, P., 2002, Surgery at a Glance, Blackwell Science, Hoboken, NJ.
Alfonso, C. D., Blanquer, I., Segrelles, D., and Hernndez, V., 2002, “Simulacion quirurgica sobre escenarios realistas,” Proceedings of Congreso Nacional de Informatica Medica-Informed.
Sobh, T., and Toundykov, D., 2004, “Optimizing the Tasks at Hand Robotic Manipulators,” IEEE Rob. Autom. Mag., 11(2), pp. 78–85. [CrossRef]
Alqasemi, R., McCaffrey, E., Edwards, K., and Dubey, R., 2005, “Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms,” Proceedings of International Conference on Rehabilitation Robotics, ICORR.
Guilamo, L., Kuffner, J., Nishiwaki, K., and Kagami, S., 2006, “Manipulability Optimization for Trajectory Generation,” Proceedings of IEEE International Conference on Robotics and Automation ICRA.
Masuda, T., Fujiwara, M., Kato, N., and Arai, T., 2002, “Mechanism Configuration Evaluation of a Linear-Actuated Parallel Mechanism Using Manipulability,” Proceedings of IEEE International Conference on Robotics and Automation.
Bayle, B., Fourquet, J. Y., Renaud, M., 2003, “Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation,” Int. J. Rob. Res., 22, pp. 565–581. [CrossRef]
Liu, H., Huang, T., Zhao, X., Mei, J., and Chetwynd, D., 2007, “Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation,” Mech. Mach. Theory, 42, pp. 1643–1652. [CrossRef]
Wang, S., Yue, L., Li, Q., and Ding, J., 2008, “Conceptual Design and Dimensional Synthesis of “Microhand,” Mech. Mach. Theory, 43, pp. 1186–1197. [CrossRef]
SanMartin, J., and Trivino, G., 2007, “Measurement of Suitability of a Haptic Device in a Virtual Reality System,” Proceedings of 2nd International Conference on Virtual Reality HCII.
SanMartin, J., Trivino, G., and Bayona, S., 2007, “Mechanical Design of a Minimal Invasive Surgery Trainer Using the Manipulability as Measure of Optimization,” Proceedings of IEEE International Conference on Mechatronics ICM.
SanMartin, J., 2009, “A Study of the Attenuation in the Properties of Haptic Devices at the Limit of the Workspace,” Proceedings of 3rd International Conference on Virtual Reality HCII.
Park, F., and Kim, J., 1998, “Manipulability of Closed Kinematic Chains,” ASME J. Mech. Des., 120, pp. 542–548. [CrossRef]
Salisbury, J., and Craig, J., 1982, “Articulated Hands: Force Control and Kinematic Issues,” Int. J. Rob. Res.1, pp. 4–17. [CrossRef]
Yoshikawa, T., 1985, “Manipulability and Redundancy Control of Robotic Mechanisms,” Proceedings of IEEE International Conference on Robotics and Automation, Vol. 2.
Yoshikawa, T., 1990, Foundations of Robotics: Analysis and Control, MIT Press, Cambridge, MA.
Yokokohji, Y., San Martin, J., and Fujiwara, M., 2009, “Dynamic Manipulability of Multifingered Grasping,” IEEE Trans. Rob., 25(4), pp. 947–954. [CrossRef]
Gallina, P., and Rosati, G., 2002, “Manipulability of a Planar Wire Driven Haptic Device,” Mech. Mach. Theory, 37(2), pp. 215–228. [CrossRef]
Cho, C., Kim, M., and Song, J., 2004, “Direct Control of a Passive Haptic Based on Passive Force Manipulability Ellipsoid Analysis,” Int. J. Control, Autom., Syst., 2(2), pp. 238–246.
Cavusoglu, M. C., Feygin, D., and Tendick, F., 2002, “A Critical Study of the Mechanical and Electrical Properties of the Phantom Haptic Interface and Improvements for High Performance Control,” Teleoperators Virtual Environ., 11, pp. 555–568. [CrossRef]
Tavakoli, M., Patel, R., and Moallem, M., 2004, “Design Issues in a Haptics-Based Master-Slave System for Minimally Invasive Surgery,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA.
Angeles, J., 2002, Fundamentals of Robotic Mechanical System: Theory, Methods, and Algorithms, Springer-Verlag, New York.
Giacomo, G. D., and Costantini, A., 2004, “Arthroscopic Shoulder Surgery Anatomy: Basic to Advanced Portal Placement,” Oper. Tech. Sports Med., 12, pp. 64–74. [CrossRef]
Lee, S., and Lee, J. M., 1988, “Task-Oriented Dual-Arm Manipulability and Its Application to Configuration Optimization, Proceedings of the 27th IEEE Conference on Decision and Control, Vol. 198, Dec. 7–9, pp. 2253–2260.
Kirkpatrick, S., GelattJr, C., and Vecchi, M., 1983, “Optimization by Simulated Annealing,” Science, 220, pp. 671–680. [CrossRef] [PubMed]
Aragon, C., Johnson, D., McGeoch, L., and Shevon, C., 1991, “Optimization by Simulated Annealing: An Experimental Evaluation; Graph Coloring and Number Partitioning,” Oper. Res., 3, pp. 378–406.
Youhua, W., Weili, Y., and Guansheng, Z., 1996, “Adaptive Simulated Annealing for the Optimal Design of Electromagnetic Devices,” IEEE Trans. Magn., 32, pp. 1214–1217. [CrossRef]
Rajendran, I., and Vijayarangan, S., 2007, “Simulated Annealing Approach to the Optimal Design of Automotive Suspension Systems,” Int. J. Veh. Des.43, pp. 11–30. [CrossRef]
Trivino, G., San Martn, J., Fuzzy, A., 2007, “Logic Approach to the Concept of Manipulability in Mechanics,” IEEE International Conference on Fuzzy Systems, Londres (Reino Unido), pp 974–978.
Hok-Wah, C., and Wong-Chuen, K., 1993, “An Enhanced Octree Structure for Representing the Spatial/Boundary Decomposition of 3-D Objects,” TENCON'93, Proceedings of 1993 IEEE Region 10 Conference on Computer, Communication, Control and Power Engineering, Vol. 2, pp. 1017–1020.


Grahic Jump Location
Fig. 1

Components of OMNi device. Arms l1 = 129 mm and l2 = 133 mm.

Grahic Jump Location
Fig. 2

Main angles in the OMNi device

Grahic Jump Location
Fig. 3

Manipulability map in the plane YZ. The RW is remarked in thick trace. Axis in millimeters.

Grahic Jump Location
Fig. 4

3D volume of manipulability for the OMNi device

Grahic Jump Location
Fig. 5

Detail of positioning options of a VW inside the RW

Grahic Jump Location
Fig. 6

(a) Anatomical model of the shoulder. (b) Two views of VW including the differentiated parts VW-glenohumeral and VW-subacromial. (c) View of the shoulder plus the VW. The additional cylinders are the entry portals for the surgery.

Grahic Jump Location
Fig. 7

Initial relative position of both manipulators respect to the shoulder

Grahic Jump Location
Fig. 8

NFM is a 3D object in XYZ. This figure represents a portion for a given value of x. Level curves represent frequency values.

Grahic Jump Location
Fig. 9

Different orientations of the VW to study (0-45-90-135 grades) in each positioning

Grahic Jump Location
Fig. 10

A simple example of subdivision in voxels by octrees

Grahic Jump Location
Fig. 11

Frequency map corresponding with the Bankart lesion

Grahic Jump Location
Fig. 12

Frequency map corresponding with Bursectomy

Grahic Jump Location
Fig. 13

Views of a mechanical prototype used in the experimentation




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In