Toward Correcting Anxious Movements Using Haptic Cues on the Da Vinci Surgical Robot
Toward Correcting Anxious Movements Using Haptic Cues on the Da Vinci Surgical Robot
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DOI：
10.1109/biorob52689.2022.9925380
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
Y. Zheng;Marzieh Ershad;A. M. Fey
中科院分区：
文献类型：
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作者：
Y. Zheng;Marzieh Ershad;A. M. Fey
外科手术动作具有重要的风格特征，没有接受过正式外科手术训练的人可以使用这些特征来识别专业知识。在我们之前的工作中，我们试图表征与手术风格相关的定量指标，并使用商业触觉设备开发了一个近实时的风格缺陷检测框架。在本文中，我们实现了双手风格检测的达芬奇研究工具包（dVRK），并专注于一个风格的缺陷，“Angloman”，这可能会描述运动在压力条件下。我们的目标是通过探索三种不同类型的触觉提示（时变弹簧，阻尼器和弹簧阻尼器反馈）对使用da芬奇研究工具包（dVRK）的基本手术训练任务期间的性能的影响，潜在地纠正这些“Anglomerous”运动。八名受试者被招募来完成钉转移任务，使用随机顺序的触觉提示，并与基线试验之间的每个任务。总的来说，所有线索导致显著改善基线经济的体积和时变弹簧触觉线索导致显着改善，减少分类的“Anglomerate”运动，并对应于显着较低的路径长度和经济的体积为非优势手。这项工作是在手术机器人上评估我们的风格检测模型的第一步，可以为未来主动和自适应地减少手术室压力的负面影响的方法奠定基础。
Surgical movements have an important stylistic quality that individuals without formal surgical training can use to identify expertise. In our prior work, we sought to characterize quantitative metrics associated with surgical style and developed a near-real-time detection framework for stylistic deficiencies using a commercial haptic device. In this paper, we implement bimanual stylistic detection on the da Vinci Research Kit (dVRK) and focus on one stylistic deficiency, “Anxious”, which may describe movements under stressful conditions. Our goal is to potentially correct these “Anxious” movements by exploring the effects of three different types of haptic cues (time-variant spring, damper, and spring-damper feedback) on performance during a basic surgical training task using the da Vinci Research Kit (dVRK). Eight subjects were recruited to complete peg transfer tasks using a randomized order of haptic cues and with baseline trials between each task. Overall, all cues lead to a significant improvement over baseline economy of volume and time-variant spring haptic cues lead to significant improvements in reducing the classified “Anxious” movements and corresponded with significantly lower path length and economy of volume for the non-dominant hand. This work is the first step in evaluating our stylistic detection model on a surgical robot and could lay the groundwork for future methods to reduce the negative effect of stress actively and adaptively in the operating room.