Evaluation of user‐interfaces for controlling movements of virtual minimally invasive surgical instruments

Shabir, Dehlela; Anbatawi, Malek; Padhan, Jhasketan; Balakrishnan, Shidin; Al‐Ansari, Abdulla; Abinahed, Julien; Tsiamyrtzis, Panagiotis; Yaacoub, Elias; Mohammed, Amr; Deng, Zhigang; Navkar, Nikhil V.

doi:10.1002/rcs.2414

Cited by 11 publications

(2 citation statements)

References 49 publications

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“…Second, a mechanism comprising of push button switches could be used to enable pressing of air/water irrigation and suction buttons. Third, while a game controller was used as an input device, other human computer interfaces [ 18 , 19 ], such as stylus/handle [ 6 , 20 ], interfaces based on eye-gaze and/or head motion [ 7 ], can be integrated with the proposed system to provide actuation commands. While game controller and stylus/handle engages operator’s hands, head/eye tracking devices offer a hands-free solution for endoscope movements [ 11 ].…”

Section: Discussionmentioning

confidence: 99%

A generic scope actuation system for flexible endoscopes

Basha,

Khorasani,

Abdurahiman

et al. 2023

Surg Endosc

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Background A scope actuation system assists a surgeon in steering a scope for navigating an operative field during an interventional or diagnostic procedure. Each system is tailored for a specific surgical procedure. The development of a generic scope actuation system could assist various laparoscopic and endoscopic procedures. This has the potential to reduce the deployment and maintenance costs for a hospital, making it more accessible for clinical usage. Methods A modular actuation system (for maneuvering rigid laparoscopes) was adapted to enable incorporation of flexible endoscopes. The design simplifies the installation and disassembly processes. User studies were conducted to assess the ability of the system to focus onto a diagnostic area, and to navigate during a simulated esophagogastroduodenoscopy procedure. During the studies, the endoscope was maneuvered with (robotic mode) and without (manual mode) the actuation system to navigate the endoscope’s focus on a predefined track. Results Results show that the robotic mode performed better than the manual mode on all the measured performance parameters including (a) the total duration to traverse a track, (b) the percentage of time spent outside a track while traversing, and (c) the number of times the scope focus shifts outside the track. Additionally, robotic mode also reduced the perceived workload based on the NASA-TLX scale. Conclusions The proposed scope actuation system enhances the maneuverability of flexible endoscopes. It also lays the groundwork for future development of modular and generic scope assistant systems that can be used in both laparoscopic and endoscopic procedures.

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Section: Discussionmentioning

confidence: 99%

A generic scope actuation system for flexible endoscopes

Basha,

Khorasani,

Abdurahiman

et al. 2023

Surg Endosc

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“…For our experiments, we select a widely used example of each kind of user interface: a Spacemouse Wireless (3Dconnexion, Munich, Germany) for the onboard and a Touch Haptic Device (3D Systems, Rock Hill, SC, USA) for the offboard. The Spacemouse (typically used as a CAD mouse) has been used in robots for many years, 11 and recently in concentric tube robots, 7,12 since it compactly offers a full 6 degrees of freedom (DoF) input. The Touch Haptic Device is considerably larger but offers 3 DoF haptic feedback with 6 DoF input.…”

Section: Introductionmentioning

confidence: 99%

A comparison of onboard and offboard user interfaces for handheld robots

Wilke,

d'Almeida,

Shrand

et al. 2024

Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling

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As surgical robotics are made progressively smaller, and their actuation systems simplified, the opportunity arises to re-evaluate how we integrate them into operating room workflows. Over the past few years, several research groups have shown that robots can be made so small and light that they can become hand-held tools, in contrast to the prevailing commercial paradigm of surgical robots being large multi-arm floor-mounted systems that must be remotely teleoperated. This hand-held paradigm enables robots to fit much more seamlessly into existing clinical workflows, and as such, these new robots need to be paired with similarly compact user interfaces. It also gives rise to a new area of user interface research, exploring how the surgeon can simultaneously control the position and orientation of the overall system, while also simultaneously controlling small robotic manipulators that maneuver dexterously at the tip. In this paper, we compare an onboard user interface mounted directly to the robotic platform against the traditional offboard user interface positioned away from the robot. In the latter, the surgeon positions the robot, and a support arm holds it in place while the surgeon operates the manipulators using the offboard surgeon console. The surgeon can move back and forth between the robot and the console as often as desired. Three experiments were conducted, and results show that the onboard interface enables statistically significantly faster performance in a point-touching task performed in a virtual environment.

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Deep learning for surgical instrument recognition and segmentation in robotic-assisted surgeries: a systematic review

Ahmed,

Yousef,

Ahmed

et al. 2024

Artif Intell Rev

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Applying deep learning (DL) for annotating surgical instruments in robot-assisted minimally invasive surgeries (MIS) represents a significant advancement in surgical technology. This systematic review examines 48 studies that utilize advanced DL methods and architectures. These sophisticated DL models have shown notable improvements in the precision and efficiency of detecting and segmenting surgical tools. The enhanced capabilities of these models support various clinical applications, including real-time intraoperative guidance, comprehensive postoperative evaluations, and objective assessments of surgical skills. By accurately identifying and segmenting surgical instruments in video data, DL models provide detailed feedback to surgeons, thereby improving surgical outcomes and reducing complication risks. Furthermore, the application of DL in surgical education is transformative. The review underscores the significant impact of DL on improving the accuracy of skill assessments and the overall quality of surgical training programs. However, implementing DL in surgical tool detection and segmentation faces challenges, such as the need for large, accurately annotated datasets to train these models effectively. The manual annotation process is labor-intensive and time-consuming, posing a significant bottleneck. Future research should focus on automating the detection and segmentation process and enhancing the robustness of DL models against environmental variations. Expanding the application of DL models across various surgical specialties will be essential to fully realize this technology’s potential. Integrating DL with other emerging technologies, such as augmented reality (AR), also offers promising opportunities to further enhance the precision and efficacy of surgical procedures.

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Evaluation of user‐interfaces for controlling movements of virtual minimally invasive surgical instruments

Cited by 11 publications

References 49 publications

A generic scope actuation system for flexible endoscopes

A generic scope actuation system for flexible endoscopes

A comparison of onboard and offboard user interfaces for handheld robots

Deep learning for surgical instrument recognition and segmentation in robotic-assisted surgeries: a systematic review

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