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Theses

Collaborative hands-on training on haptic simulators

Abstract : Medical students can use training simulators to improve their skills in a faster way using advanced tools that could give them quantitative feedback about their performance. Nowadays there are some haptic simulators used in several areas of medical education. However, most of these simulators can be used by only one user at the time, with no possible ways to perform guided training. Besides, these simulators lack an internal architecture that allows them to be expanded into multiple users or multiple devices. Expanding these simulators to a multi-user system can lead to parallel teaching. To develop a multi-user haptic simulator, it is necessary to establish an architecture that offers stability, position tracking and haptic force feedback for each involved device. The trainer and trainees will be able to manipulate the slave (either a real robot handling a surgical tool or a numeric simulation) system using their proper Master haptic devices to perform the surgical task. The architecture must offer an authority-sharing mechanism that ensures the dominance of allowed users during the training and a proper estimation of the slave’s environment forces fed back to for each user. The following thesis shows the results obtained with the implementation of a previously proposed architecture, expansion it into n-DoF (in angular and cartesian workspace) and that can be used with devices that do not share the same kinematic configuration. The new architecture also allows implementing m-trainee consoles to expand the number of users that can learn from an experienced trainer at the same time. The expansion of the system, evaluation of transparency and results obtained for free motion and contact cases are shown. A new adaptative dominance function is also proposed that present some advantages over the ones proposed in the bibliography. The results of a study of how much this function aids trainees in the learning process is also detailed with the used test bank and a proposed protocol. Finally, its detailed future work that can be done to improve the architecture as well the necessaries studies that will probe its functionality.
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https://tel.archives-ouvertes.fr/tel-03078482
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Submitted on : Wednesday, December 16, 2020 - 5:07:32 PM
Last modification on : Monday, September 13, 2021 - 2:44:03 PM
Long-term archiving on: : Wednesday, March 17, 2021 - 7:50:34 PM

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  • HAL Id : tel-03078482, version 1

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Angel Ricardo Licona Rodriguez. Collaborative hands-on training on haptic simulators. Automatic. Université de Lyon, 2020. English. ⟨NNT : 2020LYSEI018⟩. ⟨tel-03078482⟩

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