The computer assisted surgical trainer: Design, models, and implementation

This paper describes a system developed to assist in model-based training of minimally invasive, laparoscopic procedures. The key factor motivating the development of the device called CAST (Computer-Assisted Surgical Trainer) is the need to improve the state-of-the-art in teaching laparoscopy, and ultimately achieve better surgical outcomes. CAST's design concept and architecture is presented with its major elements that facilitate guided (both haptic and visual) execution of tasks, performance assessment, and comparative analysis of results. Both software and hardware models and implementations are given. The system, while currently intended for off-line, laboratory use, has an excellent potential for real-time assistive functions in the operating room.