Sensory Substitution for Force Feedback Recovery: A Perception Experimental Study
Sensory Substitution for Force Feedback Recovery: A Perception Experimental Study
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DOI：
10.1145/3176642
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发表时间：
2018-08-01
影响因子：
1.6
通讯作者：
Casals, Alicia
中科院分区：
文献类型：
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作者：
Aviles-Rivero, Angelica, I;Alsaleh, Samar M.;Casals, Alicia
如今，机器人辅助手术通常被用作传统手术选择的更有效的替代方案。外科医生和患者都受益于这些系统，因为它们提供了许多优点，包括创伤和失血少，并发症少，以及更好的人体工程学。然而，当前可用的手术系统的剩余限制是由于远程操作设置而缺乏力反馈，这阻止了与患者的直接交互。一旦通过传感装置或通过基于视觉的力估计间接获得力信息，就出现了如何将该信息传输给外科医生的问题。一个有吸引力的替代方法是感官替代，它允许将一种感官形式的信息转换为另一种感官形式。在目前的工作中，我们使用视觉反馈来传达相互作用力给外科医生。我们的首要目标是解决以下问题：如何显示相互作用力，以支持外科医生的有效理解，而不干扰外科医生的感知和手术过程中的工作流程？到目前为止，使用视觉模态的力反馈还没有仔细评估。为此，我们进行了一项实验研究，目的有两个：（1）证明使用这种方式的潜在好处和（2）了解外科医生的感知偏好。我们对28名外科医生的研究结果显示，使用这种方式的用户（96%）接受度很高。此外，我们发现，外科医生要轻松解释信息，必须考虑他们的心理模型，这意味着可视化的设计应该适合最终用户的感知和认知能力。据我们所知，这是第一次分析这些原理，以探索医疗机器人中的感觉替代。最后，我们提供了以用户为中心的建议，为机器人手术系统的视觉显示器的设计。
Robotic-assisted surgeries are commonly used today as a more efficient alternative to traditional surgical options. Both surgeons and patients benefit from those systems, as they offer many advantages, including less trauma and blood loss, fewer complications, and better ergonomics. However, a remaining limitation of currently available surgical systems is the lack of force feedback due to the teleoperation setting, which prevents direct interaction with the patient. Once the force information is obtained by either a sensing device or indirectly through vision-based force estimation, a concern arises on how to transmit this information to the surgeon. An attractive alternative is sensory substitution, which allows transcoding information from one sensory modality to present it in a different sensory modality. In the current work, we used visual feedback to convey interaction forces to the surgeon. Our overarching goal was to address the following question: How should interaction forces be displayed to support efficient comprehension by the surgeon without interfering with the surgeon's perception and workflow during surgery? Until now, the use the visual modality for force feedback has not been carefully evaluated. For this reason, we conducted an experimental study with two aims: (1) to demonstrate the potential benefits of using this modality and (2) to understand the surgeons' perceptual preferences. The results derived from our study of 28 surgeons revealed a strong positive acceptance of the users (96%) using this modality. Moreover, we found that for surgeons to easily interpret the information, their mental model must be considered, meaning that the design of the visualizations should fit the perceptual and cognitive abilities of the end user. To our knowledge, this is the first time that these principles have been analyzed for exploring sensory substitution in medical robotics. Finally, we provide user-centered recommendations for the design of visual displays for robotic surgical systems.