Modelling of anal sphincter tone based on pneumatic and cable-driven mechanisms

摘要

Motivated by the need for improving a haptics-based simulation tool for learning and training digital rectal examinations, a sphincter tone model and its actuation is conceived and developed. Two approaches are presented: one based on pneumatics actuation and the other using cable-driven mechanical actuation using servo motors. Clinical scenarios are modelled as profiles based on studies of anorectal manometry and adapted with clinical input. Both designed mechanisms and scenarios were experimentally evaluated by six experts, Nurse Practitioners in Continence and Colorectal Surgeons. Results show that both mechanisms produce enough pressure on examining finger and profiles are able to generate a wide range of healthy and abnormal cases. Either approach could be used to provide a more realistic experience during training of sphincter tone assessment.