Modeling and evaluation of hand–eye coordination of surgical robotic system on task performance

Gao, Yuanqian; Wang, Shuxin; Li, Jianmin; Li, Aimin; Liu, Hongbin; Yuan, Xiangwei

doi:10.1002/rcs.1829

Cited by 11 publications

(4 citation statements)

References 26 publications

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“…In addition, operating at wider manipulation angles can be compensated for by use of the clutch at the fingertips, which can temporarily disconnect the robotic arm guidance from the console. Manipulation angles of 60°, 90° and 120° did not have a significant effect on task performance with a laboratory‐based robotic system [20]. The clutch at the surgeon console allows the surgeon to bring his/her arms close together in ergonomic positions even if the manipulation angle is wide and the handles of the robotic instruments are far apart.…”

Section: Discussionmentioning

confidence: 99%

Ergonomic port placement in robotic colorectal surgery

et al. 2021

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Aim The aim of the study was to determine how spacing between ports and alignment of ports (oblique or vertical) influences manipulation angles in robotic colorectal surgery. Method Abdominal CT scans of 10 consecutive robotic right hemicolectomy and 10 consecutive robotic high anterior resection patients were analysed. The manipulation angles were calculated using fixed points on the preoperative abdominal coronal CT scan. Port placements were marked on the CT scan. The fixed points used to measure the manipulation angles were from the most lateral part of the caecum, hepatic flexure, splenic flexure, the descending colon/sigmoid colon junction and the sigmoid colon/rectum junction. Results For right hemicolectomy and high anterior resection surgery, a port spacing of 8 cm compared with 6 cm resulted in greater manipulation angles. With 6‐cm port spacing, wider manipulation angles were not achieved with vertical port alignment compared with oblique alignment except for dissection at the splenic flexure. Conclusions The greatest manipulation angles were achieved with the oblique 8‐cm port spacing, which should be used in most cases.

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Section: Discussionmentioning

confidence: 99%

Ergonomic port placement in robotic colorectal surgery

et al. 2021

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“…Building on the two kinematic models mentioned in Section , the master‐slave motion alignment model is shown in Figure . Since the display translates the image acquired by the laparoscope in real time, the display coordinate system can be considered to coincide with the laparoscopic coordinate system.…”

Section: Methodsmentioning

confidence: 99%

Master‐slave motion alignment for an open surgical console

Wang

Song

Zhang

et al. 2018

Robotics Computer Surgery

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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.

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“…When operators manually manipulate a surgical robot master console by hand, they look at the slave manipulator's movement on a screen seen through the endoscope. 23,24 The master movement was processed as somatic information. However, the slave movement was processed as visual information.…”

Section: Cognitive Modelmentioning

confidence: 99%

Brain activation measurement for motion gain decision of surgical endoscope manipulation

Miura

Kaneko

Kawamura

et al. 2022

Robotics Computer Surgery

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Background: Robotic surgery improves minimally invasive interventions. However, it is challenging to determine the best gain settings for control of the endoscope.Providing the surgeon with the ability to manipulate the endoscope at an appropriate speed will likely improve the surgery by reducing the surgeon's stress. In this study, we validated the feasibility of a gain-tuning method in which the operator's brain activity is measured and used to evaluate stress levels. Methods:We developed an endoscope-manipulation simulator and used functional near-infrared spectroscopy to measure the prefrontal cortical activity, while participants controlled the simulator at different gain values. Results:The brain activation levels in the prefrontal cortex exhibited significant differences under different viewpoint motion gain conditions. Conclusions:The stress-related brain activity was significantly reduced at specific gains, indicating that the brain activity evaluation would be useful to determine the parameters related to the operator's feelings.

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Modeling and evaluation of hand–eye coordination of surgical robotic system on task performance

Abstract: This hand-eye coordination model provides evidence for robotic design, surgeon training, and robotic initialization to achieve dexterous and safe manipulation in surgery.

Cited by 11 publications

References 26 publications

Ergonomic port placement in robotic colorectal surgery

Ergonomic port placement in robotic colorectal surgery

Master‐slave motion alignment for an open surgical console

Brain activation measurement for motion gain decision of surgical endoscope manipulation

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