Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users

Nisky, Ilana; Che, Yuhang; Quek, Zhan Fan; Weber, Matthew B.; Hsieh, Michael H.; Okamura, Allison M.

doi:10.1109/icra.2015.7139949

Cited by 27 publications

(22 citation statements)

References 22 publications

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“…In RAMIS, many tasks involve movement along curved paths and a control of the orientation of the master manipulator and the surgical instruments [35]- [37]. Quantifying the control of orientation was recently shown to be promising for assessment of surgical skills [36], [37].…”

Section: Introductionmentioning

confidence: 99%

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

Buzzi

Momi

Nisky³

2019

IEEE Trans. Biomed. Eng.

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Abstract-Objective: In teleoperated robot-assisted tasks, the user interacts with manipulators to finely control remote tools. Manipulation of robotic devices, characterized by specific kinematic and dynamic proprieties, is a complex task for the human sensorimotor system due to the inherent biomechanical and neuronal redundancies that characterize the human arm and its control. We investigate how master devices with different kinematics structures and how different task constraints influence users capabilities in exploiting arm redundancy. Methods: A virtual teleoperation workbench was designed and the arm kinematics of seven users was acquired during the execution of two planar virtual tasks, involving either the control of position only or position-orientation of a tool. Using the UnControlled Manifold Analysis of arm joint variability we estimated the logarithmic ratio between task irrelevant and the task relevant manifolds (Rv). Results: The Rv values obtained in the position-orientation task were higher than in the position only task while no differences were found between the master devices. A modulation of Rv was found through the execution of the position task and a positive correlation was found between task performance and redundancy exploitation. Conclusion: Users exploited additional portions of arm redundancy when dealing with the tool orientation. The Rv modulation seems influenced by the task constraints and by the users possibility of reconfiguring the arm position. Significance: This work advances the general understanding of the exploitation of arm redundancy in complex tasks, and can improve the development of future robotic devices.

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Section: Introductionmentioning

confidence: 99%

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

Buzzi

Momi

Nisky³

2019

IEEE Trans. Biomed. Eng.

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“…Prior to the first part of open needle driving, and prior to the second part of teleoperation needle driving, participants viewed a video with instructions on how to perform the task correctly using the needle holder and using teleoperation, respectively (as in Nisky et al, 2015). Participants were asked to perform the needle insertion in one throw, and if needed, they could readjust their gripping of the needle and continue the insertion along the same curve of the needle.…”

Section: Methodsmentioning

confidence: 99%

“…When learning to use a teleoperation system, participants presented a learning curve over subsequent trials in path length, completion time, and other kinematic and dynamic metrics (Narazaki et al, 2006;Nisky et al, 2014b). Metrics that quantify the human movement or performance are also used to differentiate between novices and experts surgeons (Hofstad et al, 2013;Nisky et al, 2015;Sharon et al, 2017) or to evaluate the effect of training on performing surgical tasks (Judkins et al, 2008). Classical metrics, such as task completion time and path length were measured to assess the performance of participants during surgical tasks, and the learning process of surgeons with various levels of expertise (Smith et al, 2001;Nisky et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

“…Metrics that quantify the human movement or performance are also used to differentiate between novices and experts surgeons (Hofstad et al, 2013;Nisky et al, 2015;Sharon et al, 2017) or to evaluate the effect of training on performing surgical tasks (Judkins et al, 2008). Classical metrics, such as task completion time and path length were measured to assess the performance of participants during surgical tasks, and the learning process of surgeons with various levels of expertise (Smith et al, 2001;Nisky et al, 2015). In another study, force and torque metrics were suggested to discriminate between novice and expert surgeons (Richards et al, 2000).…”

Section: Introductionmentioning

confidence: 99%

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Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions

2020

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Robotic assisted minimally invasive surgery (RAMIS) systems present many advantages to the surgeon and patient over open and standard laparoscopic surgery. However, haptic feedback, which is crucial for the success of many surgical procedures, is still an open challenge in RAMIS. Understanding the way that haptic feedback affects performance and learning can be useful in the development of haptic feedback algorithms and teleoperation control systems. In this study, we examined the performance and learning of inexperienced participants under different haptic feedback conditions in a task of surgical needle driving via a soft homogeneous deformable object-an artificial tissue. We designed an experimental setup to characterize their movement trajectories and the forces that they applied on the artificial tissue. Participants first performed the task in an open condition, with a standard surgical needle holder, followed by teleoperation in one of three feedback conditions: (1) no haptic feedback, (2) haptic feedback based on position exchange, and (3) haptic feedback based on direct recording from a force sensor, and then again with the open needle holder. To quantify the effect of different force feedback conditions on the quality of needle driving, we developed novel metrics that assess the kinematics of needle driving and the tissue interaction forces, and we combined our novel metrics with classical metrics. We analyzed the final teleoperated performance in each condition, the improvement during teleoperation, and the aftereffect of teleoperation on the performance when using the open needle driver. We found that there is no significant difference in the final performance and in the aftereffect between the 3 conditions. Only the two conditions with force feedback presented statistically significant improvement during teleoperation in several of the metrics, but when we compared directly between the improvements in the three different feedback conditions none of the effects reached statistical significance. We discuss possible explanations for the relative similarity in performance. We conclude that we developed several new metrics for the quality of surgical needle driving, but even with these detailed metrics, the advantage of state of the art force feedback methods to tasks that require interaction with homogeneous soft tissue is questionable.

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“…The forces displayed are downscaled by the same scaling factor of 0.3. More details on the implementation can be found in [27].…”

Section: A Implementation Platformmentioning

confidence: 99%

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks

Shamaei

Che

Murali

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgical tasks should be carried out under the supervision of the surgeon. We propose a teleoperated architecture that allows a surgeon to employ and supervise agents that can autonomously perform or assist with surgical tasks. The architecture is independent of the automation method. It includes a dominance factor that allows the surgeon to take control over the slave robot at any time, and an aggressiveness factor that sets the performance pace of the autonomous agent. We tested the architecture during execution of a multilateral tension-and-cut task, where a human operator and an autonomous agent are responsible for tensioning or cutting of a tissue. The architecture allowed for supervised and paced automation of the task. We found that collaboration of the human operator and autonomous agent can lead to shorter completion time compared to performance of only a human.

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Teleoperated versus open needle driving: Kinematic analysis of experienced surgeons and novice users

Cited by 27 publications

References 22 publications

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

An Uncontrolled Manifold Analysis of Arm Joint Variability in Virtual Planar Position and Orientation Telemanipulation

Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks

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