We share our experiences in designing a complete simulator prototype and provide the technological basis to determine whether an immersive medical training environment for vertebroplasty is successful. In our study, the following key research contributions were realised: (1) the effective combination of a virtual reality surgical simulator and a computerised mannequin in designing a novel training setup for medical education, and (2) based on a user-study, the quantitative evaluation through surgical workflow and crisis simulation in proving the face validity of our immersive medical training environment. Medical simulation platforms intend to assist and support surgical trainees by enhancing their skills in a virtual environment. This approach to training is consistent with an important paradigm shift in medical education that has occurred over the past decade. Surgical trainees have traditionally learned interventions on patients under the supervision of a senior physician in what is essentially an apprenticeship model. In addition to exposing patients to some risk, this tends to be a slow and inherently subjective process that lacks objective, quantitative assessment of performance. By proposing our immersive medical simulator we offer the first shared experimental platform for education researchers to design, implement, test, and compare vertebroplasty training methods. We collected feedback from two expert and two novice residents, on improving the teaching paradigm during vertebroplasty. In this way, this limits the risks of complications during the skill acquisition phase that all learners must pass through. The complete simulation environment was evaluated on a 5-pt Likert scale format: (1) Additionally, we also simulated a crisis simulation. During training, the simulation instructor introduced a visualisation depicting cement extravasation into a perivertebral vein. Furthermore, the physiology of the computerised mannequin was influenced by the instructor simulating a lung embolism by gradually lowering the oxygen saturation from 98% to 80% beginning at a standardised point during the procedure. The simulation was stopped after the communication between the surgeon and the anaesthetist occurred which determined their acknowledgment that an adverse event occurred. The realism of this crisis simulation was ranked with an average score of 4.75. To our knowledge this is the first virtual reality simulator with the capacity to control the introduction of adverse events or complication yielding a wide spectrum of highly adjustable crisis simulation scenarios. Our conclusions validate the importance of incorporating surgical workflow analysis together with virtual reality, human multisensory responses, and the inclusion of real surgical instruments when considering the design of a simulation environment for medical education. The proposed training environment for individuals can be certainly extended to training medical teams.
The verification of the alignment of the lower limb is critical for reconstructive surgery as well as trauma surgery in order to prevent osteoarthritis. The mechanical axis is a straight line defined by the center of the femoral head and the center of the ankle joint, ideally passing the knee joint in its center. Whereas the usual preoperative method to determine the mechanical axis of the lower limbs is still the long standing radiograph, common intra-operative methods are the use of an electrocautery cord or an X-ray grid consisting of wire lines underneath the patient. Both methods require the surgeon to bring the femoral head and the ankle joint exactly to overlay with a radiopaque line that passes through both points. The distance of the knee center from this line is defined as the mechanical axis deviation (MAD). In order to reduce the errors introduced by perspective projection effects, the joint centers must be placed in the center of the c-arm images, which definitely requires time, experience and additional radiation. We propose a computer aided X-ray stitching method that puts individual X-ray images into a panoramic image frame combining the Camera Augmented Mobile C-arm (CamC) system, which features a video camera with its optical center virtually coinciding with the origin of the X-rays, with an optical tracking marker pattern underneath the operating table. The camera image of the marker pattern is used to perform pose estimation of the C-arm, allowing the calculation of the x-ray source motion between the positions in which the individual X-rays were taken. By estimating the homography, the different X-rays can be registered into a panoramic frame, enabling perfect alignment and metric measurements. In order to reduce parallax effects that lead to axis and metric measurement errors, we applied a method requiring two constraints: The bone plane has to be roughly parallel to the planar marker pattern and the distance between the marker plane and the bone plane has to be estimated. In order to evaluate the method, we used a life-size synthetic skeleton leg. After tightening a straight wire between the centers of the hip and ankle joint, the knee joint was bent into a MAD of 55 mm, which was confirmed by measuring the distance between the knee center and the wire with a ruler. The leg phantom was then placed on a radiolucent operating table, parallel to the pattern plane 130 mm underneath. The operating table was moved through the C-arm while acquiring the three desired X-ray images. which were registered into a panoramic image frame. The centers of the femoral head, the ankle, and the knee were manually determined on the generated panoramic image by a surgeon. The mechanical axis was automatically displayed and the MAD was visualised in the image and computed as 55.23 mm. We presented a new solution to intra-operatively verify alignment of the lower extremity. When using the CamC system, only a marker pattern has to be used for tracking. No additional tracking devices and calibration procedures are needed. Furthermore, the presented method only requires three x-rays that cover the femoral head, the knee and the ankle and marking of the three spots. Due to the parallax correction, these spots do not have to be exactly in the center of the picture. For this reason, compared to using an X-ray grid or an electrocautery cord, our method allows the procedure to be much faster and reduces the number of x-ray images. However, for clinical evaluation, a patient study will be conducted in the future.
