Jung Hung Chien

Accuracy and speed trade-off in robot-assisted surgery

Controlling surgical task speed and maintaining accuracy are vital components of robotic surgical skills. This study was designed to investigate the relationship between accuracy and speed for robot‐assisted surgical skills.

Locomotor Sensory Organization Test: A Novel Paradigm for the Assessment of Sensory Contributions in Gait

Feedback based balance control requires the integration of visual, proprioceptive and vestibular input to detect the body’s movement within the environment. When the accuracy of sensory signals is compromised, the system reorganizes the relative contributions through a process of sensory recalibration, for upright postural stability to be maintained. Whereas this process has been studied extensively in standing using the Sensory Organization Test (SOT), less is known about these processes in more dynamic tasks such as locomotion. In the present study, ten healthy young adults performed the six conditions of the traditional SOT to quantify standing postural control when exposed to sensory conflict. The same subjects performed these six conditions using a novel experimental paradigm, the Locomotor SOT (LSOT), to study dynamic postural control during walking under similar types of sensory conflict. To quantify postural control during walking, the net Center of Pressure sway variability was used. This corresponds to the Performance Index of the center of pressure trajectory, which is used to quantify postural control during standing. Our results indicate that dynamic balance control during locomotion in healthy individuals is affected by the systematic manipulation of multisensory inputs. The sway variability patterns observed during locomotion reflect similar balance performance with standing posture, indicating that similar feedback processes may be involved. However, the contribution of visual input is significantly increased during locomotion, compared to standing in similar sensory conflict conditions. The increased visual gain in the LSOT conditions reflects the importance of visual input for the control of locomotion. Since balance perturbations tend to occur in dynamic tasks and in response to environmental constraints not present during the SOT, the LSOT may provide additional information for clinical evaluation on healthy and deficient sensory processing.

The negative effect of distraction on performance of robot‐assisted surgical skills in medical students and residents

Modern surgical practice often requires multitasking in operating rooms, generally full of distractions. The purpose of this research was to investigate the effect of distraction on robot‐assisted surgical skill performance in medical students and residents.

Locomotor Sensory Organization Test: How Sensory Conflict Affects the Temporal Structure of Sway Variability During Gait.

When maintaining postural stability temporally under increased sensory conflict, a more rigid response is used where the available degrees of freedom are essentially frozen. The current study investigated if such a strategy is also utilized during more dynamic situations of postural control as is the case with walking. This study attempted to answer this question by using the Locomotor Sensory Organization Test (LSOT). This apparatus incorporates SOT inspired perturbations of the visual and the somatosensory system. Ten healthy young adults performed the six conditions of the traditional SOT and the corresponding six conditions on the LSOT. The temporal structure of sway variability was evaluated from all conditions. The results showed that in the anterior posterior direction somatosensory input is crucial for postural control for both walking and standing; visual input also had an effect but was not as prominent as the somatosensory input. In the medial lateral direction and with respect to walking, visual input has a much larger effect than somatosensory input. This is possibly due to the added contributions by peripheral vision during walking; in standing such contributions may not be as significant for postural control. In sum, as sensory conflict increases more rigid and regular sway patterns are found during standing confirming the previous results presented in the literature, however the opposite was the case with walking where more exploratory and adaptive movement patterns are present.

Mastoid Vibration Affects Dynamic Postural Control During Gait

Our objective was to investigate how manipulating sensory input through mastoid vibration (MV) could affect dynamic postural control during walking, with and without simultaneous manipulation of the visual and the somatosensory systems. We used three levels of MV (none, unilateral, and bilateral) via vibrating elements placed on the mastoid processes. We combined this with the six conditions of the Locomotor Sensory Organization Test (LSOT) paradigm to challenge the visual and somatosensory systems. We hypothesized that MV would affect both amount and temporal structure measures of sway variability during walking and that, in combination with manipulations of the visual and the somatosensory inputs, MV would augment the effects previously observed. The results confirmed that MV produced a significant increase in the amount of sway variability in both anterior–posterior and medial–lateral directions. Significant changes in the temporal structure of sway variability were only observed in the anterior–posterior direction. Bilateral MV produced larger effects than unilateral stimulation. We concluded that sensory input while walking could be affected using MV. Combining MV with manipulations of visual and somatosensory input could allow us to better understand the contributions of the sensory systems during locomotion.

Enhancing Fundamental Robot-Assisted Surgical Proficiency by Using a Portable Virtual Simulator

Background. The development of a virtual reality (VR) training platform provides an affordable interface. The learning effect of VR and the capability of skill transfer from the VR environment to clinical tasks require more investigation. Methods. Here, 14 medical students performed 2 fundamental surgical tasks—bimanual carrying (BC) and peg transfer (PT)—in actual and virtual environments. Participants in the VR group received VR training, whereas participants in the control group played a 3D game. The learning effect was examined by comparing kinematics between pretraining and posttraining in the da Vinci Surgical System. Differences between VR and playing the 3D game were also examined. Results. Those who were trained with the VR simulator had significantly better performance in both actual PT (P = .002) and BC (P < .001) tasks. The time to task completion and the total distance traveled were significantly decreased in both surgical tasks in the VR group compared with the 3D game group. However, playing the 3D game showed no significant enhancement of fundamental surgical skills in the actual PT task. The difference between pretraining and posttraining was significantly larger in the VR group than in the 3D game group in both the time to task completion (P = .002) and the total distance traveled (P = .027) for the actual PT task. Participants who played the 3D game seemed to perform even worse in posttraining. Conclusions. Training with the portable VR simulator improved robot-assisted surgical skill proficiency in comparison to playing a 3D game.

Modeling surgical skill learning with cognitive simulation.

We used a cognitive architecture (ACT-R) to explore the procedural learning of surgical tasks and then to understand the process of perceptual motor learning and skill decay in surgical skill performance. The ACT-R cognitive model simulates declarative memory processes during motor learning. In this ongoing study, four surgical tasks (bimanual carrying, peg transfer, needle passing, and suture tying) were performed using the da Vinci© surgical system. Preliminary results revealed that an ACT-R model produced similar learning effects. Cognitive simulation can be used to demonstrate and optimize the perceptual motor learning and skill decay in surgical skill training.

Innovative effector design for simulation training in robotic surgery

Feasibility and effectiveness of minimally invasive surgery have made the use of robotic surgical system a rising prevalence with a wide range of applications. However, as a remarkable result, how to adroitly and precisely manipulate the sophisticated robotic surgery instruments is of fundamental importance to new surgeons. In order to provide the robotic surgical skill training for surgeons, we designed and built a training simulator with virtual reality equipped with two new hardware interfaces (effectors) which can emulate the operating process of the actual manipulators in the robotic surgical system. By using our designed framework, medical trainees can use the simulator to practice the fundamental technique of the surgical operation. To develop training platform and analyze performance, personal real time operating data, such like space position, moving speed and acceleration parameters of the virtual robotic instruments, can be collected by the sensors on the effectors and transmitted through wireless communication to the PC terminal for surgical skill performance analysis.

Optic flow improves adaptability of spatiotemporal characteristics during split-belt locomotor adaptation with tactile stimulation

Human locomotor adaptation requires feedback and feed-forward control processes to maintain an appropriate walking pattern. Adaptation may require the use of visual and proprioceptive input to decode altered movement dynamics and generate an appropriate response. After a person transfers from an extreme sensory environment and back, as astronauts do when they return from spaceflight, the prolonged period required for re-adaptation can pose a significant burden. In our previous paper, we showed that plantar tactile vibration during a split-belt adaptation task did not interfere with the treadmill adaptation however, larger overground transfer effects with a slower decay resulted. Such effects, in the absence of visual feedback (of motion) and perturbation of tactile feedback, are believed to be due to a higher proprioceptive gain because, in the absence of relevant external dynamic cues such as optic flow, reliance on body-based cues is enhanced during gait tasks through multisensory integration. In this study, we therefore investigated the effect of optic flow on tactile-stimulated split-belt adaptation as a paradigm to facilitate the sensorimotor adaptation process. Twenty healthy young adults, separated into two matched groups, participated in the study. All participants performed an overground walking trial followed by a split-belt treadmill adaptation protocol. The tactile group (TC) received vibratory plantar tactile stimulation only, whereas the virtual reality and tactile group (VRT) received an additional concurrent visual stimulation: a moving virtual corridor, inducing perceived self-motion. A post-treadmill overground trial was performed to determine adaptation transfer. Interlimb coordination of spatiotemporal and kinetic variables was quantified using symmetry indices and analyzed using repeated-measures ANOVA. Marked changes of step length characteristics were observed in both groups during split-belt adaptation. Stance and swing time symmetries were similar in the two groups, suggesting that temporal parameters are not modified by optic flow. However, whereas the TC group displayed significant stance time asymmetries during the post-treadmill session, such aftereffects were absent in the VRT group. The results indicated that the enhanced transfer resulting from exposure to plantar cutaneous vibration during adaptation was alleviated by optic flow information. The presence of visual self-motion information may have reduced proprioceptive gain during learning. Thus, during overground walking, the learned proprioceptive split-belt pattern is more rapidly overridden by visual input due to its increased relative gain. The results suggest that when visual stimulation is provided during adaptive training, the system acquires the novel movement dynamics while maintaining the ability to flexibly adapt to different environments.

Tactile stimuli affect long-range correlations of stride interval and stride length differently during walking

Sensory feedback below the sole of the foot using sub-threshold mechanical noise significantly reduced postural sway in patients with diabetes and stroke. However, the effects of tactile parameters on walking are still elusive. Specifically, the effects of such parameters on human gait variability need to be studied because of possible rehabilitation outcomes in terms of bringing improvement in temporal and spatial gait parameters. The purpose of this study was to investigate whether different frequency and amplitude combinations of vibro-tactile stimulation of feet would affect stride-to-stride variability in healthy young adults. Ten healthy subjects walked on a treadmill at self-selected pace while wearing customized insoles fitted with tactors that vibrated at selected frequencies and amplitudes. The results show that the frequency manipulations of tactile stimulation altered the long-range correlations (LRCs) in stride length while amplitude manipulations affected the LRCs in stride interval without having any effect on the amount of gait variability. Our findings suggest that independent neural mechanisms may be responsible for coordinating LRCs of gait parameters in the spatial and temporal domains.