Master‐slave motion alignment for an open surgical console

Abstract

Background: Open surgical consoles widely employed in minimally invasive surgery have better ergonomics than closed consoles. To enhance surgical robots' ergonomics, operational efficiency, and safety, an effective master-slave motion alignment model should be established.Methods: The kinematic model of the robot system based on laparoscopic camera coordinate system is built in the first place. Then, the relative pose between the operator's eyes and the display is measured by Tobii Eye Tracking Sensor and is subsequently used to improve the master-slave motion alignment model. Results: Robot threading experiments are conducted by two doctors and three testers to verify the kinematic model. As a result, in contrast to the original model, the improved model reduces both operation time and the number of collisions.Conclusions: The improved master-slave motion alignment model, in which the transformation matrix between the operator's eyes and the display is employed, raises the ergonomics, operational efficiency, and safety.

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

“…The display-based master-slave motion alignment paradigm is difficult because the head and the display coordinate system do not correspond. [19] To assist surgeons with more flexibility and comfortability in performing MIS, the user interfaces of the Versius and Avatera surgical systems have been developed with new designs. In the Versius system, its user interface has an open console and 3D-HD vision with the use of polarized glasses and joystick handles that allow the surgeon to manipulate the system from a sitting or standing posture (Figure 2e).…”

“…For instance, Wang et al proposed a method of Master-slave motion alignment for an open surgical console. [19] Similar to Tobii Pro Glasses 2, Microsoft Hololens 2, a potential alternative to conventional monitors in endoscopic surgery, [165] also offers an eye-tracking sensor to make interactions feel more natural. [166] Recently, sensors have been widely used to monitor human activity for a variety of applications such as medical rehabilita-tion, healthcare monitoring, and fitness or sports tracking.…”

“…The display‐based master‐slave motion alignment paradigm is difficult because the head and the display coordinate system do not correspond. [ 19 ]…”

“…This not only makes it difficult for the surgeon to observe the robot and assistants, but it also puts strain on the surgeon's cervical vertebra. [ 19 ] Open consoles, on the other hand, can be a viable option because they allow the surgeon's head complete freedom of movement, which can potentially improve ergonomics. However, the operation of hand‐eye coordination may be affected by head motion, limiting the use of open consoles in TSRSs.…”

“…[22] Recently, Wang et al introduced a unique master-slave motion alignment model that takes advantage of a wearable eye-tracking sensor and open console design to increase ergonomic and operational efficiency while overcoming the constraints of closed consoles. [19] In the vein of wearable master consoles, robotic materials such as smart garments with sensors and actuators completely embedded in the fabric can be an excellent candidate for reducing the need for rigid components and providing a cost-effective approach. [20,23] However, due to the inherent compliance of textiles, their maximum possible applied force is limited.…”