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.

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.

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.

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.

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.

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.

Gravity compensation of an upper extremity exoskeleton.

This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm.

A biomechanical model of the female reproductive system and the fetus for the realization of a childbirth virtual simulator.

Our main work consists in modeling of the female pelvis and uterus, as well as the human fetus. The goal of this work is to recover the different forces generated during the delivery. These forces will be input to the haptic obstetric training tool BirthSim which has already been developed by the Ampère Laboratory at the INSA of Lyon.

Evaluation of obstetric gestures: an approach based on the curvature of quaternions.

This paper presents a method to evaluate a gesture carried out by a resident obstetrician by comparing it to a gesture carried out by an expert obstetrician. The studied gesture is the forceps blade placement. Resident paths were recorded on a childbirth simulator while placing forceps blades instrumented with six degrees of freedom sensors.

Assessment of forceps blade orientations during their placement using an instrumented childbirth simulator.

This paper aims to highlight the benefits of simulator training in obstetric manipulations such as forceps blade placement. The BirthSIM simulator is used to mimic operative vaginal deliveries. To characterise forceps blade placement, we studied the curvature of forceps path.

Assessment of forceps use in obstetrics during a simulated childbirth.

Background: In obstetrics, manipulations are mainly learned during real deliveries. To minimize the risks linked to such training, we propose a childbirth simulator as a teaching tool in hospitals. More specifically, we focus on training with forceps during obstetric manipulation.

A method to evaluate skill transfer and acquisition of obstetric gestures based on the curvatures analysis of the position and the orientation.

This paper focuses on the gesture analysis in order to compare two human gestures. The orientations and the positions of the gestures are both taken into account and the similarity rate between two gestures is calculated. In our case, the application is in obstetrics and the aim is to evaluate forceps blade placement.

A medical simulator for subcutaneous contraceptive implant insertion.

New contraceptive methods like the subcutaneous implant offers a new kind of comfort for women with an efficiency similar to the contraceptive pill. Unfortunately the few numbers of unintended pregnancies that have been reported are generally due to a bad insertion of the implant. In order to give more security to patients, we have designed, in close collaboration with physicians, a new kind of medical simulator.

Evaluation of obstetric gestures: an approach based on the curvature of 3-D positions.

This paper presents a method to evaluate a gesture carried out by a resident obstetrician doctors by comparing it to a gesture carried out by an expert obstetrician doctors. The studied gesture is the forceps blade placement. Residents were recorded on a childbirth simulator while placing forceps blades.

Design of a medical simulator for subcutaneous contraceptive implant insertion.

New contraceptive methods like the subcutaneous implant offers a new kind of comfort for women with an efficiency similar to the contraceptive pill. Unfortunately, the few numbers of unintended pregnancies that have been reported, are generally due to a bad insertion of the implant. In order to give more security to patients, we have designed, in close collaboration with physicians, a new kind of medical simulator.

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.

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.

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.

[Obstetrical forceps: yesterday, today and tomorrow. Toward a new classification of obstetrical forceps].

Objective: Obstetrical forceps are used worldwide since more than 400 years. In 2003 forceps deliveries accounted for 6.3% of all deliveries of the AURORE Grand-Lyon perinatal network.

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.

[Instrumental extraction in 2002 in the "AURORE" hospital network: incidence and serious neonatal complications].

Objectives: The purpose of this study was to evaluate the incidence of forceps and vacuum application and the incidence of its related neonatal complications. This study was performed in a network of 37 maternity hospitals.

Patients And Method: A postal questionnaire was sent to 156 obstetricians between February and March 2003.