Virtual Nursing Simulator With Haptic Force-Feedback For Oral Hygiene Students: Diana Serafimovska Thuy Pham Advisor: Dr. Elhajj Nurse: Dr. Harrison
Dec 27, 2015
Virtual Nursing Simulator With Haptic
Force-Feedback For Oral Hygiene
Students: Diana SerafimovskaThuy Pham
Advisor: Dr. ElhajjNurse: Dr. Harrison
FactsFacts
80% of adults have periodontal disease, 99% of those people have no sign to indicate the problem [1].
40% of Americans do not receive proper oral hygiene care [3].
1.5 out of 1.6 million people residing in nursing homes have poor oral health care [5] [6].
Only 16% of the nursing home residents had their teeth cleaned with substandard oral hygiene care [8].
Bad Oral-Hygiene Leads toBad Oral-Hygiene Leads to......
Plaque accumulation leads to Gingivitis Periodontitis
Aspiration Pneumonia
Cardiovascular diseases
Decreased quality of life
Increased cost of care
Oral-Hygiene In Nursing HomeOral-Hygiene In Nursing Home
[4]
If you can't touch it, but you can see it,
it's .
If you can touch it, and you can see it,
it's .
Our Research is about…Our Research is about…
REALREAL
VIRTUALVIRTUAL
“Virtual Interactive Real-Time Simulation withHaptic Force-Feedback”
The Set-upThe Set-up
Diagram
“Virtual Interactive Real-Time Simulation withHaptic Force-Feedback”
Virtual Environment
Simulator
Haptic ToolPHANTOM OMNI
Real-TimeUser interactive
The systemThe system
User
Graphical User Interface
PhysicalForce
- Input- Output
Proxy (x,y,z)
Force
SystemForce
To Physical
ForceVisualization
Haptic Device
Haptic Interface
activateHaptic();findProxyPosition();DrawShape();If contact Force = kxElse no contact Force = 0outputForce();outputContactPoint();
Data
Control
HapticDisplay- Collision detection/Response
Haptic Device Position 1Haptic Device Position 1Proxy 1Proxy 1
Object Surface
SpringSpringF = kxF = kx
Haptic Device Position 2Haptic Device Position 2
Proxy 2Proxy 2
Our PurposesOur Purposes
Worthwhile Educational ValuesWorthwhile Educational Values
Users: nurses & nursing studentsImpacts:
Smoother transition into the clinical environment [5]Support and reinforce ergonomics [5]Reduction in the need of instructorsImprovement in skills
Provide:Convenient work environmentUser-friendly interfaceRepetitionSufficient supporting materialsPerformance Assessment
Other Simulation StudiesOther Simulation Studies
The Johnson Center at Lucile The Johnson Center at Lucile Packard Children’s HospitalPackard Children’s Hospital
The first dedicated pediatric and obstetric medical simulation center in the world
Allows health-care professionals to use their skills in a simulated medical environment [10].
Biological Simulators, IncBiological Simulators, Inc A program that contains mathematical descriptions of physiological functions in the human body.
Interaction with equations through an interface that allows you to create a disturbance and then track the subsequent physiological response [17].
Other Simulation Studies Other Simulation Studies (cont)(cont)
Optimizing the design, manufacturingcost, and functionality of new toothbrushes.
CAD toothbrush model, 3D - CT scans of person’s jaw.
PHANTOM 1.5A, GHOST library.
Finite Elements Method, Voxel-Based Algorithm.
Limitations: multi-point collision, oral surface contact detection.
Goals: pre-operative planning system for cranio-facial surgery, surgeons.
Interactive Simulation of Teeth Interactive Simulation of Teeth CleaningCleaning
[7]
Other Dental Simulation StudiesOther Dental Simulation Studies
The Iowa Virtual Reality Dental The Iowa Virtual Reality Dental Simulator Simulator
Teach and test dentist students surgical skills
Remove vibration to enhance realistic tactile feeling by increasing update rate (1kHz)
VRML 3D models
PHANTOM desktop
C and C++, World Toolkit
Goals: levels of touch detail, graphical display.
[6]
Other Dental Simulation Studies Other Dental Simulation Studies (cont)(cont)
DentSimDentSimDenX America
Physical models: head and teeth
Equipment: computer, camera, simulators
No time-delay between simulators and software
Outcome-based assessment of the procedures
Being used in many schools in the U.S
Limitations: too expensive
[13]
Other Dental Simulation Studies Other Dental Simulation Studies (cont)(cont)
University of Pittsburgh School of Dental Medicine
Use simulators for their first year dental students. The simulator is made up of standard dental equipment where each station is equipped with a dummy patient simulator that has a removable jaw with lifelike movement that can be approached from any angle. Provides the clinical experience without setting foot in an actual clinic [11].
University of Washington Offers a teaching camp that gives students the opportunity to work with teeth simulators while learning to make impressions, models, and reconstructions of portions of teeth [12].
Our Oral-Hygiene Simulation StudiesOur Oral-Hygiene Simulation Studies
How can we prove that our research will be How can we prove that our research will be effective?effective?
If doctors can, why can’t nurses?
Faster way of learning Columbia University’s School of Dental and Oral Surgery has shown that students learn much faster using simulation machines [9].
Well prepared for real clinical practices [5]
Capability of our application
Oral health care training gives:Significant improvement specifically for oral hygiene (Nicol, Sweeney, McHugh, Bagg, 2005). 369 caregivers were improved in attitudes and knowledge of oral health care (Frenkel. Harvey, Needs, 2002)
ChallengesChallenges
Graphic User InterfaceVisual Basic interfaces with Visual C++
Realistic 3D modelingPhysical properties: colors, size, etc. Facial features: tongue, face, etc.
Force-feel realismSynchronization:
Haptic (1kHz) & graphic (30Hz) update rate [14]Multi-threading structure [14]
Reduction in vibration: haptic device force & update rateMulti-point tactile sensory Tactile feelings at different regions Deformation of soft tissues
Accuracy in calculationThe specific surfaces of contactTiming
Procedural Assessment Detailed evaluation
The process…The process…
Graphical User Interface (GUI) - Visual Basic
The process… The process… (cont)(cont)
Programming language: C++
Rendering techniquesHLAPI / HDAPI - haptic library
OpenGL – graphic rendering library
GLUT – auxiliary library handles window creations: mouse movement, button and keyboard functions, callbacks, etc.
GLUI – GUI for GLUT
The process… The process… (cont)(cont)
3D modelOBJ format
OBJLOADER
VERTICESFACES
OPENGL MESH
The process… The process… (cont)(cont)
Load 3D Toothbrush
Problem: Missing vertices & facesLoader does not work
well with a larger numberof polygons
Solution: SplodgeLimitation: no texture
The process… The process… (cont)(cont)
Enable haptic device
Load models
Draw models GraphicallyHaptically
Determine proxy point
Force calculation
Collision Detection done by HLAPI
GLUI builds on top of GLUT
Start/Stop timeEvaluation form
The process… The process… (cont)(cont)
Problems Collision DetectionPenetration
Third-party physics/dynamics and collision detection engine
Sphere Trees
Axis Aligned Bounding Box (AABB)
Oriented Bounding Box (OBB) – RAPID
SWIFT++ - convex-decomposition & bounding volume hierarchy
I-COLLIDE – only convexQ-COLLIDE – enhancement of I-COLLIDE
QuickCD & CD – dynamic/dynamic, static/dynamic objects; k-dop bounding volume
[14] [15] [16]
Movie TimeMovie Time
Future Implementation & Directions Future Implementation & Directions
Graphical visualizationLoader
Textures
Facial features
Bleeding of gum
AlgorithmsVisual collision detection
Surface contact calculation
Optimization of the
force-feedback systemMulti-point collision
Reduce vibration
Quote From This ResearchQuote From This Research
• If you can touch it and you can see it, it's REALREAL
• If you can't touch it but you can see it, it's VIRTUALVIRTUAL
• If you can touch it but you can't see it, it's TT
• If you can't touch it and you can't see it, it's
RANSPARENTRANSPARENT
GONEGONE
ReferencesReferences
[1] “Oral Hygiene.” Wikipedia Online Encyclopedia. 6 June 2006.[2] Anton, Pam. Advanced Dental Hygiene Practitioner Fact
Sheet 2006. 6 June 2006.[3] “An Overview of Nursing Home Facilities: Data from 1997
National Nursing Home Survey.” National Center for Health Statistics. No 311. 1 March 2000.
[4] Fundamentals of Nursing: The Art and Science of Nursing Care. Lippincott William and Wilkins © 2005.
[5] Judith Ann Buchanan. Use of Simulation Technology in Dental Education. Journal of Dental Education. November 2001.
[6] Steven Dow, Geb Thomas, Lynn Johnson, Clark Standford. Iowa Dental Surgical Simulator. University of Iowa College of Dentistry and the GROK Lab. 2004.
[7] Gockel T, Salb T, Weyrich T, Burgert O, Dillmann R. Interactive Interactive Simulation of Teeth Cleaning. Institute for Process Control and Robotics. University Karlsruhe, Germany, 2000.
[8] “Oral Care Provided by Certified Nursing Assistants in Nursing Homes.” Oral Care in Nursing Homes. January 2006. Vol. 54. No. 1.
[9] Dougherty, Matthew. Dental Students Cut Teeth on New Simulators. Columbia University Health Sciences. © 2002.
[10] Conger, Krista. “New center innovates teaching through simulation.” Stanford Report. 13 November 2002
References References (cont)(cont)
[11] Uhl, Jocelyn. “Dental Education of the Future at Pitt now: First-year Students Learn Clinical Skills Now, $2.8 million Simulation Clinic.” Pitt Chronicle: Newspaper of the University of Pittsburgh. 23 September 2002.
[12] Neary, Walter. “Dental camp will give youth a rare close-up view of profession.” UWnews.org. 19 July 2002.
[13] DentSim. DenX Advanced Medical System. DenX America, Inc. 2006.
[14] Cagatay Basdogan, Chih-Hao Ho. Principles of Haptic Rendering for Virtual Environments. Laboratory for Human and Machine Haptics. MIT.
[15] Stephen A. Ehmann and Ming C. Lin. Accurate and Fast Proximity Queries between Polyhedra Using Surface Decomposition. Computer Graphics Forum (Proc. of Eurographics), 2001.
[16] Ales Daneu. Collision Detection Algorithms. Computer and Information Science. University of Ljubljana. 2002. pp: 7-10.
[17] Biological Simulators, Inc. Simulation for Education and Research. Tom Coleman. 14 July 2006.
THANK YOU…THANK YOU…