Dataset Information

Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements.

ABSTRACT: STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a new robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. Pre-clinical testing of STRAS has recently permitted to demonstrate major advantages of the system in comparison with classic procedures. Benchmark methods permitting to establish objective criteria for 'expertise' need to be worked out now to effectively train surgeons on this new system in the near future. STRAS consists of three cable-driven sub-systems, one endoscope serving as guide, and two flexible instruments. The flexible instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this study, small force sensors sewn into a wearable glove to ergonomically fit the master handles of the robotic system were employed for monitoring the forces applied by an expert and a trainee (complete novice) during all the steps of surgical task execution in a simulator task (4-step-pick-and-drop). Analysis of grip-force profiles is performed sensor by sensor to bring to the fore specific differences in handgrip force profiles in specific sensor locations on anatomically relevant parts of the fingers and hand controlling the master/slave system.

SUBMITTER: de Mathelin M

PROVIDER: S-EPMC6848933 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:PurposeAutomatic segmentation offers many benefits for radiotherapy treatment planning; however, the lack of publicly available benchmark datasets limits the clinical use of automatic segmentation. In this work, we present a well-curated computed tomography (CT) dataset of high-quality manually drawn contours from patients with thoracic cancer that can be used to evaluate the accuracy of thoracic normal tissue auto-segmentation systems.Acquisition and validation methodsComputed tomography scans of 60 patients undergoing treatment simulation for thoracic radiotherapy were acquired from three institutions: MD Anderson Cancer Center, Memorial Sloan Kettering Cancer Center, and the MAASTRO clinic. Each institution provided CT scans from 20 patients, including mean intensity projection four-dimensional CT (4D CT), exhale phase (4D CT), or free-breathing CT scans depending on their clinical practice. All CT scans covered the entire thoracic region with a 50-cm field of view and slice spacing of 1, 2.5, or 3 mm. Manual contours of left/right lungs, esophagus, heart, and spinal cord were retrieved from the clinical treatment plans. These contours were checked for quality and edited if necessary to ensure adherence to RTOG 1106 contouring guidelines.Data format and usage notesThe CT images and RTSTRUCT files are available in DICOM format. The regions of interest were named according to the nomenclature recommended by American Association of Physicists in Medicine Task Group 263 as Lung_L, Lung_R, Esophagus, Heart, and SpinalCord. This dataset is available on The Cancer Imaging Archive (funded by the National Cancer Institute) under Lung CT Segmentation Challenge 2017 (http://doi.org/10.7937/K9/TCIA.2017.3r3fvz08).Potential applicationsThis dataset provides CT scans with well-delineated manually drawn contours from patients with thoracic cancer that can be used to evaluate auto-segmentation systems. Additional anatomies could be supplied in the future to enhance the existing library of contours.

Dataset Information

Sensors for Expert Grip Force Profiling: Towards Benchmarking Manual Control of a Robotic Device for Surgical Tool Movements.

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