Abstract
This paper presents a review of surgical simulators, developed to enhance the learning process of surgical procedures, that involves bones, ranging from musculoskeletal system (orthopedics) and the skull (ENT and neurosurgeries). The paper highlights the specific challenges in terms of the extended reality representation of surgical training along with its latest advances. The study gathers journal and conference proceedings from various database sources (bibliographic databases and online search engines) that fulfills a predetermined eligibility criterion. From the search, 185 journals were found but only 144 met the inclusion criteria. Surgical simulators emerge as a promising alternative to aid residents in surgical training. It encompasses surgical procedures done in the craniomaxillofacial, joints, limbs and spine section of the human body. The study was partially supported by internal grant STG/19/047 from KU Leuven.
Similar content being viewed by others
Availability of Data and Material
Data sharing not applicable to this article as no datasets were generated or analyzed during the study.
Notes
HapticVR » Fundamental Surgery.
References
Acosta E, Liu A (2007) Real-time volumetric haptic and visual burrhole simulation. In: IEEE Virtual Reality Conference. pp 247–250
Agus M, Giachetti A, Gobbetti E et al (2002) A multiprocessor decoupled system for the simulation of temporal bone surgery. Comput Vis Sci 5:35–43. https://doi.org/10.1007/s00791-002-0085-5
Agus M, Giachetti A, Gobbetti E, Zanetti G et al (2002) Mastoidectomy simulation with combined visual and haptic feedback. Studies in Health Technol Inform. 85:17–23
Agus M, Giachetti A, Gobbetti E et al (2003) Real-time haptic and visual simulation of bone dissection. Presence Teleoperators Virtual Environ 12:110–122. https://doi.org/10.1162/105474603763835378
Al Shahat OA, Ismail YH, Kaseer A, Hasan M, El Genidy AS (2018) Management of metacarpal and phalangeal bone fractures of the hand. Egyptian J Plastic Reconstr Surg 42(2):405–409
Anastakis DJ, Regehr G, Reznick RK et al (1999) Assessment of technical skills transfer from the bench training model to the human model. Am J Surg 177:167–170. https://doi.org/10.1016/S0002-9610(98)00327-4
Andersen SAW, Caye-Thomasen P, Sørensen MS (2015) Novices perform better in virtual reality simulation than in traditional cadaveric dissection training of mastoidectomy. J Surg Simul 2:68–75. https://doi.org/10.1102/2051-7726.2015.0014
Andersen SAW, Bergman M, Keith JP et al (2020) Segmentation of temporal bone anatomy for patient-specific virtual reality simulation. Ann Otol Rhinol Laryngol. https://doi.org/10.1177/0003489420970217
Andersen SAW, Varadarajan VV, Moberly AC et al (2021) Patient-specific virtual temporal bone simulation based on clinical cone-beam computed tomography. Laryngoscope. https://doi.org/10.1002/lary.29542
Armstrong R, Noltie D, Eagleson R, de Ribaupierre S (2018) An examination of factors affecting performance on a patient-specific virtual reality-based ventriculostomy simulator. J Surg Simul 5:74–86. https://doi.org/10.1102/2051-7726.2018.0008
Arroyo-Berezowsky C, Jorba-Elguero P, Altamirano-Cruz M, Quinzaños-Fresnedo J (2019) Usefulness of immersive virtual reality simulation during femoral nail application in an orthopedic fracture skills course. J Musculoskelet Surg Res 3:326. https://doi.org/10.4103/jmsr.jmsr_78_19
Assisted Surgery (2021) Assisted Surgery – Page 2 – Computer-, Robot-, Augmented- or Virtual-Reality-Assisted Surgery; Planning, 3D visualization. https://assistedsurgery.com/page/2/. Accessed 6 Jul 2021
Badash I, Burtt K, Solorzano CA, Carey JN (2016) Innovations in surgery simulation: a review of past, current and future techniques. Ann Transl Med 4:1–10
Ben-Ari R, Robbins RJ, Pindiprolu S, Goldman A, Parsons PE (2014) The costs of training internal medicine residents in the United States. Am J Med. 127(10):1017–23. https://doi.org/10.1016/j.amjmed.2014.06.040 (Epub 2014 Jul 22 PMID: 25063649)
Benyahia S, Van Nguyen D, Chellali A, Otmane S (2015) Designing the user interface of a virtual needle insertion trainer. In: IHM 2015 - Actes de la 27eme Conference Francophone sur l’Interaction Homme-Machine
Bielsa VF (2021) Virtual reality simulation in plastic surgery training literature review. J. Plast. Reconstr. Aesthetic Surg. 74(9):2372–2378
Blyth P, Stott NS, Anderson IA (2007) A simulation-based training system for hip fracture fixation for use within the hospital environment. Injury 38:1197–1203. https://doi.org/10.1016/j.injury.2007.03.031
Boian R, Lee C, Deutsch J, et al (2002) Virtual reality-based system for ankle rehabilitation post stroke. In: Proc 1st Int Work Virtual Real Rehabil (Mental Heal Neurol Phys Vocat pp. 77–86
Buchanan EP, Hyman CH (2013) LeFort i osteotomy. Semin Plast Surg 27:149–154. https://doi.org/10.1055/s-0033-1357112
Cannon WD, Eckhoff DG, Garrett WE et al (2006) Report of a group developing a virtual reality simulator for arthroscopic surgery of the knee joint. Clin Orthop Relat Res. https://doi.org/10.1097/01.blo.0000197080.34223.00
Cecil J, Ramanathan P, Rahneshin V, et al (2013) Collaborative virtual environments for orthopedic surgery. In: IEEE International Conference on Automation Science and Engineering. pp 133–137
Chae S, Jung SW, Park HS (2018) In vivo biomechanical measurement and haptic simulation of portal placement procedure in shoulder arthroscopic surgery. PLoS One 13:1–14. https://doi.org/10.1371/journal.pone.0193736
Chan S, Li P, Locketz G et al (2016) High-fidelity haptic and visual rendering for patient-specific simulation of temporal bone surgery. Comput Assist Surg 21:85–101. https://doi.org/10.1080/24699322.2016.1189966
Chen Y, He X (2013) Haptic simulation of bone drilling based on hybrid 3D part representation. In: 2013 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications, CIVEMSA 2013 - Proceedings. pp 78–81
Chen Y-R, Kuok C-P, Hsu C-C, et al (2016) A Force Feedback Pedical Screw Impantation Surgical Trainer with Automatic Vertebra Segmentation. In: Proceedings of the 4th IIAE International Conference on Intelligent Systems and Image Processing 2016. pp 293–299
Cho JH, Jung H, Lee K, et al (2007) Haptic rendering of drilling into femur bone with graded stiffness. In: Proceedings of the Frontiers in the Convergence of Bioscience and Information Technologies, FBIT 2007. pp 525–530
Clarke E (2021) Virtual reality simulation—the future of orthopaedic training? a systematic review and narrative analysis. Adv Simul 6:1–11. https://doi.org/10.1186/s41077-020-00153-x
Coles TR, Dwight M, Nigel WJ (2011) The role of haptics in medical training simulators: a survey of the state of the art. IEEE Transactions on haptics 4(1):51–66
Compton EC, Agrawal SK, Ladak HM et al (2020) Assessment of a virtual reality temporal bone surgical simulator: a national face and content validity study. J Otolaryngol - Head Neck Surg. https://doi.org/10.1186/s40463-020-00416-7
Condino S, Turini G, Mamone V et al (2021) Hybrid spine simulator prototype for x-ray free pedicle screws fixation training. Appl Sci 11:1–17. https://doi.org/10.3390/app11031038
Copson B, Wijewickrema S, Zhou Y et al (2017) Supporting skill acquisition in cochlear implant surgery through virtual reality simulation. Cochlear Implants Int 18:89–96. https://doi.org/10.1080/14670100.2017.1289299
Covaciu F, Pisla A, Iordan AE (2021) Development of a virtual reality simulator for an intelligent robotic system used in ankle rehabilitation. Sensors 21:1–17. https://doi.org/10.3390/s21041537
Dillon NP, Kratchman LB, Dietrich MS et al (2013) An experimental evaluation of the force requirements for robotic mastoidectomy. Otol Neurotol Off Public Am Otolog Soc, Am Neurotol Soc European Acad Otol Neurotol 34(7):93–102
DiMaio SP, Salcudean SE (2002) Needle insertion modelling for the interactive simulation of percutaneous procedures. In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). pp 253–260
Doherty CM, Forbes RB (2014) Diagnostic lumbar puncture. Ulster Med J 83:93–102
Du Z, Zeller R, Wang D, Zabjek K (2018) Pedicle screw insertion surgical simulator. Lect Notes Comput Sci (including Subser Lect Notes Artif Intell Lect Notes Bioinformatics). https://doi.org/10.1007/978-3-319-91397-1_31
Eriksson M, Flemmer H, Wikander J (2008) A haptic and virtual reality skull bone surgery simulator. Proc. World Haptics
Escobar-Castillejos D, Noguez J, Neri L et al (2016) A review of simulators with haptic devices for medical training. J Med Syst 40:1–22. https://doi.org/10.1007/s10916-016-0459-8
Escobar-Castillejos D, Noguez J, Bello F et al (2020) A review of training and guidance systems in medical surgery. Appl Sci 10:1–35. https://doi.org/10.3390/APP10175752
Fang TY, Wang PC, Liu CH et al (2014) Evaluation of a haptics-based virtual reality temporal bone simulator for anatomy and surgery training. Comput Methods Programs Biomed 113:674–681. https://doi.org/10.1016/j.cmpb.2013.11.005
Färber M, Hummel F, Gerloff C, Handels H (2009) Virtual reality simulator for the training of lumbar punctures. Methods Inf Med 48:493–501. https://doi.org/10.3414/ME0566
Färber M, Heller J, Handels H (2007) Simulation and training of lumbar punctures using haptic volume rendering and a 6DOF haptic device. In: Medical Imaging 2007: Visualization and Image-Guided Procedures. p 65090F
Fekri P, Dargahi J, Zadeh M (2021) Deep learning-based haptic guidance for surgical skills transfer. Front Robot AI. https://doi.org/10.3389/frobt.2020.586707
Forsslund J, Chan S, Selesnick J et al (2013) The effect of haptic degrees of freedom on task performance in virtual surgical environments. Stud Health Technol Inform 184:129–35 (PMID: 23400144)
Francis HW, Malik MU, Diaz Voss Varela DA et al (2012) Technical skills improve after practice on virtual-reality temporal bone simulator. Laryngoscope 122:1385–1391. https://doi.org/10.1002/lary.22378
Francone A, Huang JM, Ma J et al (2019) The effect of haptic feedback on efficiency and safety during preretinal membrane peeling simulation. Translat Vision Sci Technol. https://doi.org/10.1167/tvst.8.4.2
Frendø M, Frithioff A, Konge L et al (2022) Assessing competence in cochlear implant surgery using the newly developed cochlear implant surgery assessment tool. Eur Arch Otorhinolaryngol. 279(1):127–136. https://doi.org/10.1007/s00405-021-06632-9
Frey M, Hoogen J, Burgkart R, Riener R (2006) Physical interaction with a virtual knee joint - the 9 DOF haptic display of the munich knee joint simulator. Presence Teleoperators Virtual Environ 15:570–587. https://doi.org/10.1162/pres.15.5.570
Fucentese SF, Rahm S, Wieser K et al (2015) Evaluation of a virtual-reality-based simulator using passive haptic feedback for knee arthroscopy. Knee Surgery, Sport Traumatol Arthrosc 23:1077–1085. https://doi.org/10.1007/s00167-014-2888-6
Fujiwara K, Oikawa T, Ishikawa Y, Mitobe K (2020) Development of a VR simulator for training of posterior cervical spine fusion surgery. IEEJ Trans Electr Electron Eng 15:1242–1243. https://doi.org/10.1002/tee.23188
Gang C, Haibo L, Fancai L et al (2011) Learning curve of thoracic pedicle screw placement using the free-hand technique in scoliosis: how many screws needed for an apprentice? European spine J: Off Public European Spine Soc, the European Spinal Deformity Soc, European Sect Cerv Spine Res Soc 21:1151–1556. https://doi.org/10.1007/s00586-011-2065-2
Garfjeld Roberts P, Guyver P, Baldwin M et al (2017) Validation of the updated ArthroS simulator: face and construct validity of a passive haptic virtual reality simulator with novel performance metrics. Knee Surgery, Sport Traumatol Arthrosc 25:616–625. https://doi.org/10.1007/s00167-016-4114-1
Gerovich O, Marayong P, Okamura AM (2004) The effect of visual and haptic feedback on computer-assisted needle insertion. Comput Aided Surg 9:243–249. https://doi.org/10.3109/10929080500190441
Ghasemloonia A, Baxandall S, Zareinia K et al (2016) Evaluation of haptic interfaces for simulation of drill vibration in virtual temporal bone surgery. Comput Biol Med 78:9–17. https://doi.org/10.1016/j.compbiomed.2016.09.005
Gibby JT, Swenson SA, Cvetko S et al (2019) Head-mounted display augmented reality to guide pedicle screw placement utilizing computed tomography. Int J Comput Assist Radiol Surg 14:525–535. https://doi.org/10.1007/s11548-018-1814-7
Gibson S, Samosky J, Mor A et al (1997) Simulating arthroscopic knee surgery using volumetric object representations, real-time volume rendering and haptic feedback. In: Troccaz J, Grimson E, Mösges R (eds) CVRMed-MRCAS’97. Springer, Berlin Heidelberg, Berlin, Heidelberg, pp 367–378
Gilbody J, Prasthofer AW, Ho K, Costa ML (2011) The use and effectiveness of cadaveric workshops in higher surgical training: a systematic review. Ann. R. Coll. Surg. Engl. 93:347–352
Girod S, Schvartzman SC, Gaudilliere D et al (2016) Haptic feedback improves surgeons’ user experience and fracture reduction in facial trauma simulation. J Rehabil Res Dev 53:561–570. https://doi.org/10.1682/JRRD.2015.03.0043
Govea-Valladares EH, Medelliın-Castillo HI, Lim T et al (2012) Development of a virtual simulator for planning mandible osteotomies in orthognathic surgeries. Rev Mex Ing Biomedica. 33:147–158
Griffin M, Malahias M, Hindocha S, Khan W (2012) Update on the management of compound lower limb fractures. Open Orthop J 6:518–524. https://doi.org/10.2174/1874325001206010518
Ha-Van Q, Schwendinger H, Kim Y, Harders M (2020) Design and characterization of an actuated drill mockup for orthopedic surgical training. IEEE Trans Haptics 13:655–667. https://doi.org/10.1109/TOH.2020.2966608
He X, Chen Y (2006) Bone drilling simulation based on six degree-of-freedom haptic rendering. Proc. of Eurohaptics 2006:1–6
Heng PA, Cheng CY, Wong TT et al (2004) A virtual-reality training system for knee arthroscopic surgery. IEEE Trans Inf Technol Biomed 8:217–227. https://doi.org/10.1109/TITB.2004.826720
Hochman JB, Sepehri N, Rampersad V et al (2014) Mixed reality temporal bone surgical dissector: mechanical design. J Otolaryngol - Head Neck Surg. https://doi.org/10.1109/MCG.2006.140
Hochman JB, Rhodes C, Kraut J et al (2015) End user comparison of anatomically matched 3-dimensional printed and virtual haptic temporal bone simulation: a pilot study. Otolaryngol - Head Neck Surg 153:263–268. https://doi.org/10.1177/0194599815586756
Hochman JB, Rhodes C, Wong D et al (2015) Comparison of cadaveric and isomorphic three-dimensional printed models in temporal bone education. Laryngoscope 125:2353–2357. https://doi.org/10.1002/lary.24919
Hong SM (2007) Reduction Mandibuloplasty of the mandible in a square face: a series of cases. In: AAOMS. Elsevier BV, pp 42.e6–42.e7
Hsieh MS, Tsai MD, Chang WC (2002) Virtual reality simulator for osteotomy and fusion involving the musculoskeletal system. Comput Med Imaging Graph 26:91–101. https://doi.org/10.1016/S0895-6111(01)00034-9
Hsieh MS, Tsai MD, Der Yeh Y (2006) An amputation simulator with bone sawing haptic interaction. Biomed Eng - Appl Basis Commun 18:229–236. https://doi.org/10.4015/S1016237206000361
Hutchins MA, Stevenson DR, Gunn C et al (2006) Communication in a networked haptic virtual environment for temporal bone surgery training. Virtual Real 9:97–107. https://doi.org/10.1007/s10055-005-0015-1
Huynh KT, Gibson I, Lu WF, Jagdish BN (2010) Simulating dynamics of thoracolumbar spine derived from LifeMOD under haptic forces. World Acad Sci Eng Technol 4:278–285
Imboden S, Petrone M, Quadrani P, et al (2005) A haptic enabled multimodal pre-operative planner for hip arthroplasty. In: 1st joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems; world haptics conference, WHC 2005. pp 503–504
Jiang D, Hovdebo J, Cabral A et al (2013) Endoscopic third ventriculostomy on a microneurosurgery simulator. Simul Trans ofthe Soc Model Simul Int 89:1442–1449. https://doi.org/10.1177/0037549713491519
Johansson R, Santelices I, Connell DO, et al (2019) Evaluation of the use of haptic virtual fixtures to guide fibula osteotomies in mandible reconstruction surgery. In: 2019 IEEE 15th international conference on automation science and engineering (CASE). pp 1–4
Kaluschke M, Weller R, Zachmann G, et al (2018) A Virtual hip replacement surgery simulator with realistic haptic feedback maximilian. In: 2018 IEEE conference on virtual reality and 3D user interfaces. pp 759–760
Kennedy KL, Lin JW (2021) Mastoidectomy. Statpearls Publishing
Kerwin T, Shen HW, Stredney D (2009) Enhancing realism of wet surfaces in temporal bone surgical simulation. IEEE Trans Vis Comput Graph 15:747–758. https://doi.org/10.1109/TVCG.2009.31
Kerwin T, Hittle B, Chan S et al (2017) Expert subjective comparison of haptic models for bone-drill interaction. Int J Comput Assist Radiol Surg 12:2039–2045. https://doi.org/10.1007/s11548-017-1541-5.Expert
Kim GH, Kim BT, Bin Im S et al (2014) Comparison of the indications and treatment results of burr-hole drainage at the maximal thickness area versus twist-drill craniostomy at the pre-coronal point for the evacuation of symptomatic chronic subdural hematomas. J Korean Neurosurg Soc 56:243–247. https://doi.org/10.3340/jkns.2014.56.3.243
Kim HJ, Jo YJ, Choi JS et al (2020) Virtual reality simulation and augmented reality-guided surgery for total maxillectomy: a case report. Appl Sci. https://doi.org/10.3390/APP10186288
Kitware (2021) Introducing Osteotomy Planner: A 3D Slicer extension module to simulate bone cutting, remodeling and repositioning - Kitware Blog. https://blog.kitware.com/introducing-osteotomy-planner-a-3d-slicer-extension-module-to-simulate-bone-cutting-remodeling-and-repositioning/. Accessed 13 May 2021
Knott TC, Kuhlen TW (2015) Bimanual Haptic Simulation of Bone Fracturing for the Training of the Bilateral Sagittal Split Osteotomy. Int Conf Art Real Telexist Eurograph Symp Virtual Environ, ICAT-EGVE 2015:101–108
Kusins JR, Strelzow JA, LeBel ME, Ferreira LM (2018) Development of a vibration haptic simulator for shoulder arthroplasty. Int J Comput Assist Radiol Surg 13:1049–1062. https://doi.org/10.1007/s11548-018-1734-6
Larson, A. N., Polly, D. W., Jr., Ackerman, S. J., Ledonio, C. G. T., Lonner, B. S., Shah, S. A., Emans, J. B., Richards, B. S., III, & Minimize Implants Maximize Outcomes Study Group (2016) What would be the annual cost savings if fewer screws were used in adolescent idiopathic scoliosis treatment in the US? J Neurosurg: Spine SPI 24(1):116–123
Lin Y, Wang X, Wu F et al (2014) Development and validation of a surgical training simulator with haptic feedback for learning bone-sawing skill. J Biomed Inform 48:122–129. https://doi.org/10.1016/j.jbi.2013.12.010
Lin Y, Chen H, Yu D et al (2017) A predictive bone drilling force model for haptic rendering with experimental validation using fresh cadaveric bone. Int J Comput Assist Radiol Surg 12:91–98. https://doi.org/10.1007/s11548-016-1463-7
Linke R, Leichtle A, Sheikh F et al (2013) Assessment of skills using a virtual reality temporal bone surgery simulator. Acta Otorhinolaryngol Ital 33:273–81
Locketz GD, Lui JT, Chan S et al (2017) Anatomy-specific virtual reality simulation in temporal bone dissection: perceived utility and impact on surgeon confidence. Otolaryngol - Head Neck Surg 156:1142–1149. https://doi.org/10.1177/0194599817691474
Lövquist E, Kulcsár Z, Fernström M, et al (2008) The design of a haptic simulator for teaching and assessing spinal Anaesthesia. In: The 5th Intuition International Conference
Luciano CJ, Banerjee PP, Bellotte B et al (2011) Learning retention of thoracic pedicle screw placement using a high-resolution augmented reality simulator with haptic feedback. Oper Neurosurg 69:14–19. https://doi.org/10.1227/NEU.0b013e31821954ed
Lyu SR, Lin YK, Huang ST, Yau HT (2013) Experience-based virtual training system for knee arthroscopic inspection. Biomed Eng Online 12:1–19. https://doi.org/10.1186/1475-925X-12-63
Maier J, Perret J, Huber M et al (2019) Force-feedback assisted and virtual fixtures based K-wire drilling simulation. Comput Biol Med. https://doi.org/10.1016/j.compbiomed.2019.103473
Materialise (2021) Patient-Specific Osteotomy Guides | Materialise Medical 3D Printing. https://www.materialise.com/en/medical/personalized-guides/patient-specific-osteotomy-guides. Accessed 13 May 2021
Matsunaga T, Shimono T, Ohnishi K, et al (2021) Multi functional drill incorporating linear motor for haptic surgical instrument and simulator, In: 2021 IEEE International Conference on Mechatronics (ICM), pp. 01-06. https://doi.org/10.1109/ICM46511.2021.9385623.
Mayoral R, Tsagarakis NG, Petrone M et al (2005) Integration of haptic and visual modalities for a total hip replacement planning system. Third Int Conf Med Inform Visualis - BioMedical Visualis, MediVis 2005:30–35
Medellin-Castillo HI, Zaragoza-Siqueiros J, Govea-Valladares EH et al (2021) Haptic-enabled virtual training in orthognathic surgery. Virtual Real 25:53–67. https://doi.org/10.1007/s10055-020-00438-6
MedicalExpo (2021) Thoracic spine model - LD9380 - SYNBONE AG - spine surgery / for implantology / for teaching. https://www.medicalexpo.com/prod/synbone-ag/product-121984-853967.html. Accessed 21 Jun 2021
Meyer C, Noda F, Folsom CR (2020) Hybrid surgical simulator: a temporal bone simulator validation study of the stryker surgical simulator (S3). Mil Med 185:E2026–E2031. https://doi.org/10.1093/milmed/usaa178
Mickiewicz P, Gawęcki W, Gawłowska MB et al (2021) The assessment of virtual reality training in antromastoidectomy simulation. Virtual Real. https://doi.org/10.1007/s10055-021-00516-3
Moafimadani M, Zabjek K, Zeller R et al (2019) Development of a haptic simulator for pedicle screw insertion: a pilot study. EC Orthop 10:73–81
Monson LA (2013) Bilateral sagittal split osteotomy. Semin Plast Surg 27:145–148. https://doi.org/10.1055/s-0033-1357111
Moody L, Waterworth A, Arthur JG et al (2009) Beyond the visuals: tactile augmentation and sensory enhancement in an arthroscopy simulator. Virtual Real 13:59–68. https://doi.org/10.1007/s10055-008-0106-x
Moo-Young J, Weber TM, Kapralos B et al (2021) Development of unity simulator for epidural insertion training for replacing current lumbar puncture simulators. Cureus. https://doi.org/10.7759/cureus.13409
Moo-young J, Kapralos B, Quevedo AU, Alam F (2015) Development of a consumer-level haptic epidural simulator
Morris D, Sewell C, Barbagli F, Salisbury K (2006) Simulation of bone surgery for training. Virtual augment real support simulators. pp. 48–57
Mostafa A, Ryu W, Chan S, et al (2017) Designing neurosimvr: a stereoscopic virtual reality spine surgery simulator
Negrillo-Cárdenas J, Jiménez-Pérez JR, Madeira J, Feito FR (2022) A virtual reality simulator for training the surgical reduction of patient-specific supracondylar humerus fractures. Int J Comput Assist Radiol Surg. 17(1):65–73. https://doi.org/10.1007/s11548-021-02470-6
O’Leary SJ, Hutchins MA, Stevenson DR et al (2008) Validation of a networked virtual reality simulation of temporal bone surgery. Laryngoscope 118:1040–1046. https://doi.org/10.1097/MLG.0b013e3181671b15
Olsson P, Nysjö F, Hirsch JM, Carlbom IB (2013) A haptics-assisted cranio-maxillofacial surgery planning system for restoring skeletal anatomy in complex trauma cases. Int J Comput Assist Radiol Surg 8:887–894. https://doi.org/10.1007/s11548-013-0827-5
Olsson P, Nysjo F, Rodríguez-Lorenzo A et al (2015) Haptics-assisted virtual planning of bone, soft tissue, and vessels in fibula osteocutaneous free flaps. Plast Reconstr Surg - Glob Open 3:1–9. https://doi.org/10.1097/GOX.0000000000000447
Paiva F, Pombo B, Santos R et al (2019) Open lower limb fractures-management and treatment algorithm. Orthop Muscular Syst. https://doi.org/10.4172/2161-0533.1000264
Panariello D, Caporaso T, Grazioso S, et al (2019) Using the KUKA LBR iiwa robot as haptic device for virtual reality training of hip replacement surgery. In: 3rd IEEE International Conference on Robotic Computing, IRC 2019. pp 449–450
Patel S, Alkadri S, Driscoll M (2021) Development and validation of a mixed reality configuration of a simulator for a minimally invasive spine surgery using the workspace of a haptic device and simulator users. Biomed Res Int. https://doi.org/10.1155/2021/2435126
Pettersson J, Palmerius KL, Knutsson H et al (2008) Simulation of patient specific cervical hip fracture surgery with a volume haptic interface. IEEE Trans Biomed Eng 55:1255–1265. https://doi.org/10.1109/TBME.2007.908099
Pfandler M, Lazarovici M, Stefan P et al (2017) Virtual reality-based simulators for spine surgery: a systematic review. Spine J 17:1352–1363. https://doi.org/10.1016/j.spinee.2017.05.016
Pflesser B, Petersik A, Tiede U et al (2002) Volume cutting for virtual petrous bone surgery. Comput Aided Surg 7:74–83. https://doi.org/10.1002/igs.10036
Pinto ML, Sabater JM, Sofrony J, et al (2010) Haptic simulator for training of total knee replacement. In: 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. pp 221–226
Poorten EB Vander, Perret J, Muyle R, et al (2014) To Feedback or not to Feedback – the Value of Haptics in Virtual Reality Surgical Training. In: EuroVR 2014 - Conference and Exhibition of the European Association of Virtual and Augmented Reality. pp 7–11
Pople IK (2002) Hydrocephalus and shunts: what the neurologist should know. J. Neural Neurosurg Psychiatry 73:i17–i22
Pourkand A, Zamani N, Grow D (2017) Mechanical model of orthopaedic drilling for augmented-haptics-based training. Comput Biol Med 89:256–263. https://doi.org/10.1016/j.compbiomed.2017.06.021
Racy M, Barrow A, Tomlinson J, Bello F (2020) Development and validation of a virtual reality haptic femoral nailing simulator. J Surg Educ. https://doi.org/10.1016/j.jsurg.2020.10.004
Rasool S, Sourin A, Kagda F (2013) Image-driven haptic simulation of arthroscopic surgery. Stud Health Technol Inform 20:337–343. https://doi.org/10.3233/978-1-61499-209-7-337
Rasool S, Sourin A, Xia P et al (2013) Towards hand-eye coordination training in virtual knee arthroscopy. Proc ACM Symp Virtual Real Softw Technol VRST. https://doi.org/10.1145/2503713.2503715
Rasool S, Sourin A, Pestrikov V, Kagda F (2014) Virtual knee arthroscopy using haptic devices and real surgical images. Lect Notes Comput Sci (including Subser Lect Notes Artif Intell Lect Notes Bioinformatics). https://doi.org/10.1007/978-3-319-07725-3_44
Reddy-Kolanu G, Alderson D (2011) Evaluating the effectiveness of the voxel-man temposurg virtual reality simulator in facilitating learning mastoid surgery. Ann R Coll Surg Engl 93:205–208. https://doi.org/10.1308/003588411X565987
Salb T, Brief J, Burgert O, et al (1999) Haptic based risc potential mediation for surgery simulation. In: Proc 1st Int Work Haptic Devices Med Appl. pp. 85–93
Sanchez-Sotelo J (2011) Total shoulder arthroplasty. Open Orthop J 5:106–114. https://doi.org/10.2174/1874325001105010106
Sawbone (2021) Lumbar L3, 4th Gen., 20 PCF Solid Foam Core, Large. https://www.sawbones.com/vertebra-lumbar-l3-4th-generation-composite-20-solid-foam-cancellous-core-3429-3-5.html. Accessed 21 Jun 2021
Schvartzman SC, Silva R, Salisbury K et al (2014) Computer-aided trauma simulation system with haptic feedback is easy and fast for oral-maxillofacial surgeons to learn and use. J Oral Maxillofac Surg 72:1984–1993. https://doi.org/10.1016/j.joms.2014.05.007
Sénac T, Lelevé A, Moreau R et al (2019) Simulating a syringe behavior using a pneumatic cylinder haptic interface. Control Eng Pract 90:231–240. https://doi.org/10.1016/j.conengprac.2019.07.005
Sewell C, Morris D, Blevins NH et al (2007) Evaluating drilling and suctioning technique in a mastoidectomy simulator. Stud Health Technol Inform 125:427–432
Sewell C, Blevins NH, Peddamatham S et al (2007a) The effect of virtual haptic training on real surgical drilling proficiency. In: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007a. pp 601–603
Shi J, Hou Y, Lin Y et al (2018) Role of visuohaptic surgical training simulator in resident education of orthopedic surgery. World Neurosurg 111:e98–e104. https://doi.org/10.1016/j.wneu.2017.12.015
Sieber DM, Andersen SAW, Sørensen MS, Mikkelsen PT (2021) Openear image data enables case variation in high fidelity virtual reality ear surgery. Otol Neurotol. 42(8):1245–1252. https://doi.org/10.1097/MAO.0000000000003175
Simpson Jeff S (2014) An economical approach to teaching cadaver anatomy: a 10-year retrospective. Am Biol Teacher 76(1):42–46. https://doi.org/10.1525/abt.2014.76.1.9
Slone RM, MacMillan M, Montgomery WJ, Heare M (2013) Spinal fixation. Part 2. Fixation techniques and hardware for the thoracic and lumbosacral spine. Radiographics 38
Sohmura T, Hojo H, Nakajima M et al (2004) Prototype of simulation of orthognathic surgery using a virtual reality haptic device. Int J Oral Maxillofac Surg 33:740–750. https://doi.org/10.1016/j.ijom.2004.03.003
Sourina O, Sourin A, Sen HT (2007) Orthopedic Surgery Training Simulation. J Mech Med Biol 7:37–53. https://doi.org/10.1142/s0219519407002121
Spillmann J, Tuchschmid S, Harders M (2013) Adaptive space warping to enhance passive haptics in an arthroscopy surgical simulator. IEEE Trans Vis Comput Graph 19:626–633. https://doi.org/10.1109/TVCG.2013.23
Stefan U, Michael B, Werner S (2010) Effects of three different preservation methods on the mechanical properties of human and bovine cortical bone. Bone 47:1048–1053. https://doi.org/10.1016/j.bone.2010.08.012
Sutherland C, Hashtrudi-Zaad K, Sellens R et al (2013) An augmented reality haptic training simulator for spinal needle procedures. IEEE Trans Biomed Eng 60:3009–3018. https://doi.org/10.1109/TBME.2012.2236091
Sutherland C, Hashtrudi-Zaad K, Abolmaesumi P, Mousavi P (2011) Towards an augmented ultrasound guided spinal needle insertion system. In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. IEEE, pp 3459–3462
Thon SG, Seidl AJ, Bravman JT et al (2020) Advances and update on reverse total shoulder arthroplasty. Curr Rev Musculoskelet Med 13:11–19. https://doi.org/10.1007/s12178-019-09582-2
Todd CA, Naghdy F (2004) Visual and haptic rendering of temporal bone surgery. IFAC Proc 37:465–470. https://doi.org/10.1016/S1474-6670(17)31148-5
Todd CA, Naghdy F (2011) Real-time haptic modeling and simulation for prosthetic insertion. Int J Biomed Biol Eng 5:1–9
TOKA (2021) TOKA Surgical Simulator – Toka. https://www.toka.uk/toka-surgical-simulator/. Accessed 13 May 2021
Tolsdorff B, Petersik A, Pflesser B et al (2009) Individual models for virtual bone drilling in mastoid surgery. Comput Aided Surg 14:21–27. https://doi.org/10.3109/10929080903040540
Topps D, Korolenko M, Domenico J, Newhouse D (2018) Virtual spinal tap: using haptic data to learn procedures with feel. MedEdPublish. https://doi.org/10.15694/mep.2018.0000076.1
Treuting R (2000) Minimally invasive orthopedic surgery: arthroscopy. Ochsner J 2:158–63
Tsagarakis NG, Gray JO, Caldwell DG et al (2006) Haptic-enabled multimodal interface for the planning of hip arthroplasty. IEEE Multimed 13:40–48. https://doi.org/10.1109/MMUL.2006.55
Tsagarakis NG, Caldwell DG (2005) A 5 dof haptic interface for pre-operative planning of surgical access in hip arthroplasty. In: Proc - 1st Jt Eurohaptics Conf Symp Haptic Interfaces Virtual Environ Teleoperator Syst World Haptics Conf WHC 2005 519–520. https://doi.org/10.1109/WHC.2005.2
Tsagarakis NG, Sarakoglou Y, Caldwell DG (2004) A Combined Haptic Interface and its Application on the Pre-Operative Planning for Total Hip Replacement. In: Proc of EuroHaptics 2004. (https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.182.1578&rep=rep1&type=pdf)
Tsai MD, Hsieh MS (2005) Volume manipulations for simulating bone and joint surgery. IEEE Trans Inf Technol Biomed 9:139–149. https://doi.org/10.1109/TITB.2004.842409
Tsai MD, Hsieh MS, Bin Jou S (2001) Virtual reality orthopedic surgery simulator. Comput Biol Med 31:333–351. https://doi.org/10.1016/S0010-4825(01)00014-2
Tsai MD, Hsieh MS, Tsai CH (2007) Bone drilling haptic interaction for orthopedic surgical simulator. Comput Biol Med 37:1709–1718. https://doi.org/10.1016/j.compbiomed.2007.04.006
Tsai MD, Hsieh MS (2009) Accurate visual and haptic burring surgery simulation based on a volumetric model. In: 2009 3rd International Conference on Bioinformatics and Biomedical Engineering. IEEE, pp. 1–4
Turini G, Condino S, Parchi PD, et al (2018) A Microsoft HoloLens Mixed Reality Surgical Simulator for Patient-Specific Hip Arthroplasty Training. In: Augmented Reality, Virtual Reality, and Computer Graphics. pp 201–210
Vankipuram M, Kahol K, McLaren A, Panchanathan S (2010) A virtual reality simulator for orthopedic basic skills: A design and validation study. J Biomed Inform 43:661–668. https://doi.org/10.1016/j.jbi.2010.05.016
Vidal FP, John N, Healey A, Gould DA (2008) Simulation of ultrasound guided needle puncture using patient specific data with 3D textures and volume haptics. Comput Animat Virtual Worlds. https://doi.org/10.1002/cav
Walenkamp MMJ, Keizer RJOM, Dobbe JGG et al (2015) Computer-assisted 3D planned corrective osteotomies in eight malunited radius fractures. Strateg Trauma Limb Reconstr 10:109–116. https://doi.org/10.1007/s11751-015-0234-2
Wang Q, Chen H, Wu W et al (2012) Real-time mandibular angle reduction surgical simulation with haptic rendering. IEEE Trans Inf Technol Biomed 16:1105–1114. https://doi.org/10.1109/TITB.2012.2218114
Wang Y, Xiong Y, Xu K, Liu D (2013) vKASS: a surgical procedure simulation system for arthoscopic anterior cruciate ligament reconstruction. Comput Animat Virtual Worlds 24:25–41. https://doi.org/10.1002/cav
Wang Z, Lin Y, Chen H, et al (2018) Improved simulation of virtual bone drilling surgery with a voxel-based model. EasyChair Prepr no. 477
Ward JW, Wills DPM, Sherman KP, Mohsen AMMA (1998) The development of an arthroscopic surgical simulator with haptic feedback. Futur Gener Comput Syst 14:243–251. https://doi.org/10.1016/s0167-739x(98)00028-4
Wiet GJ, Stredney D, Sessanna D et al (2002) Virtual temporal bone dissection: an interactive surgical simulator. Otolaryngol - Head Neck Surg 127:79–83. https://doi.org/10.1067/mhn.2002.126588
Wijewickrema S, Piromchai P, Zhou Y et al (2015) Developing effective automated feedback in temporal bone surgery simulation. Otolaryngol - Head Neck Surg 152:1082–1088. https://doi.org/10.1177/0194599815570880
Williams R, Srivastava M, Conatser R (2004) Implementation and evaluation of a haptic playback system. Haptics C 3:1–6.
Wong D, Unger B, Kraut J et al (2014) Comparison of cadaveric and isomorphic virtual haptic simulation in temporal bone training. J Otolaryngol Head Neck Surg 43:31. https://doi.org/10.1186/s40463-014-0031-9
Wu F, Chen X, Lin Y et al (2014) A virtual training system for maxillofacial surgery using advanced haptic feedback and immersive workbench. Int J Med Robot Comput Assist Surg 10:78–87. https://doi.org/10.1002/rcs
Xing Q, Chen JX, Li J, et al (2015) A real time haptic simulator of spine surgeries. In: Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST. pp 121–124
Yan Y, Li Q, Wang Q, Peng Y (2018) Real-time bone sawing interaction in orthopedic surgical simulation based on the volumetric object. J Vis 21:239–252. https://doi.org/10.1007/s12650-017-0455-1
Yiasemidou M, Glassman D, Tomlinson J et al (2017) Perceptions about the present and future of surgical simulation: a national study of mixed qualitative and quantitative methodology. J Surg Educ 74(1):108–116
Zahedi E, Khosravian F, Wang W et al (2020) Towards skill transfer via learning-based guidance in human-robot interaction: an application to orthopaedic surgical drilling skill. J Intell Robot Syst 98:667–678. https://doi.org/10.1007/s10846-019-01082-2
Zaragoza-Siqueiros J, Medellin-Castillo HI, de la Garza-Camargo H et al (2019) An integrated haptic-enabled virtual reality system for orthognathic surgery planning. Comput Methods Biomech Biomed Eng 22:499–517. https://doi.org/10.1080/10255842.2019.1566817
Zhang J, Qian J, Zhang H et al (2020) Maxillofacial surgical simulation system with haptic feedback. J Ind Manag Optim. https://doi.org/10.3934/jimo.2020137
Zhang J, Chang J, Yang X, Zhang JJ (2017) Virtual reality surgery simulation: A survey on patient specific solution. In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). pp 220–233
Zhao YC, Kennedy G, Yukawa K et al (2011) Improving temporal bone dissection using self-directed virtual reality simulation: Results of a randomized blinded control trial. Otolaryngol - Head Neck Surg 144:357–364. https://doi.org/10.1177/0194599810391624
Zheng F, Wong YS, Lu W (2011) Voxel-based haptic training simulator for screw insertion in knee osteotomy. ICARA 2011.In: Proc 5th Int Conf Autom Robot Appl. pp. 179–183. https://doi.org/10.1109/ICARA.2011.6144878
Zhou M, Tse S, Derevianko A et al (2011) Effect of haptic feedback in laparoscopic surgery skill acquisition. Surg Endosc 26(4):1128–34. https://doi.org/10.1007/s00464-011-2011-8
Zhou Y, Bailey J, Ioannou I, et al (2013) Pattern-based real-time feedback for a temporal bone simulator. In: Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST. pp 7–16
Zirkle M, Roberson DW, Leuwer R, Dubrowski A (2007) Using a virtual reality temporal bone simulator to assess otolaryngology trainees. Laryngoscope 117:258–263. https://doi.org/10.1097/01.mlg.0000248246.09498.b4
Zivanovic A, Dibble E, Davies B (2006) A high force haptic system for knee arthroscopy training. Int J Humanoid Robot 3:429–437. https://doi.org/10.1142/S0219843606000849
Zoller EI, Faludi B, Gerig N et al (2020) Force quantification and simulation of pedicle screw tract palpation using direct visuo-haptic volume rendering. Int J Comput Assist Radiol Surg 15:1797–1805. https://doi.org/10.1007/s11548-020-02258-0
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors confirm that there are no potential conflicts of interest
Human and animals Right
The study was partially supported by an internal grant STG/19/047 from KU Leuven, and the research involves no human participants and/or animals.
Consent publications
The authors also confirm that the manuscript has not been published elsewhere.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Syamlan, A., Fathurachman, Denis, K. et al. Haptic/virtual reality orthopedic surgical simulators: a literature review. Virtual Reality 26, 1795–1825 (2022). https://doi.org/10.1007/s10055-022-00666-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10055-022-00666-y