2021-2024 Design of a Haptic Simulator To Train on Ventricular Puncture

Student: Benjamin DELBOS Linked’In

Keywords: Haptics, Simulation, Hands-on Training

Supervised with Richard MOREAU and Rémi CHALARD (IBISC)

Period: started in September 2021, to be defended in 2024

Financed by INSA Lyon, “Enjeu Santé”

Current position: Associate Professor at INSA Lyon, Ampère laboratory

Summary

Overview

This doctoral research focuses on creating a multimodal haptic simulator for training in needle insertion, with a special emphasis on freehand ventricular puncture (VP)—a common emergency neurosurgical procedure. Motivation

• VP is still taught through apprenticeship, posing risks to patients.

• The French health authority promotes simulation-based learning (“Never the first time on a patient”).

• Despite various proposed simulators, none are currently adopted in medical practice.

Main Contributions

Tool-Tissue Interaction (Generic Needle Insertion)

• Developed models to simulate the forces felt during needle insertion, including Pre-puncture, rupture, penetration, relaxation, and extraction phases.

• Introduced a novel energy-based force model (Generalized Tracking Wall - GTW) for simulating realistic interactions based on cutting mechanics and tissue behavior.

• Designed and built a dedicated 6-DOF force-feedback haptic interface, optimizing realism and cost-efficiency for needle insertion tasks.

Surgeon-Patient Interaction (Specific to VP Training)

• Designed a multimodal simulator integrating: Haptic feedback, visual cues from medical imaging, and a physical anatomical mannequin

• Addressed the challenge of coordinating multiple sensory feedbacks to ensure simulation realism.

• Validated the simulator with neurosurgeons and identified areas for improvement.

Toward Patient-Specific Simulation

• Proposed a method for generating custom clinical cases without needing new physical components.

• Used deformable image registration to adapt various patient anatomies to a fixed mannequin design.

• Enabled training on a variety of realistic scenarios, enhancing the simulator’s educational potential.

Conclusion

The thesis advances both the technical modeling of needle insertion and the design of immersive, practical training tools. It proposes a unique hybrid simulator combining virtual and physical elements, setting a foundation for future adoption in surgical education.