A new design for the BirthSIM simulator to improve realism

This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and inverse geometric models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The inverse geometric model allows to compute the actuators displacements and thus to validate the chosen components.