Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation
Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation
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大脑活动的视觉和体感反馈，用于直观的手术机器人操作
DOI：
10.1109/embc.2015.7318250
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
M. Fujie
中科院分区：
文献类型：
--
作者：
Satoshi Miura;Y. Matsumoto;Yo Kobayashi;K. Kawamura;Y. Nakashima;M. Fujie
本文提出了一种评价主从式手术机器人手眼协调性的方法，该方法通过测量控制虚拟操作时用户大脑活动中顶内沟的激活程度来评价主从手术机器人的手眼协调性。其目的是检查当使用者的视觉或躯体反馈被传递或截获时，顶内沟活动的变化。假说是，当视觉和躯体感觉都通过反馈时，顶内沟显著激活，但当视觉或躯体感觉被截获时，顶沟失活。三名受试者在使用手控制器移动手术模拟器的虚拟手臂时，通过功能性近红外光谱地形图脑成像测量了他们的大脑活动。实验在三种情况下进行了多次：(I)用户在视觉反馈和躯体反馈都通过的情况下自然控制虚拟手臂，(Ii)用户在只有躯体反馈通过的情况下闭着眼睛移动，(Iii)用户只在视觉反馈通过的情况下凝视屏幕。与闭着眼睛或只凝视所有参与者相比，大脑活动显示出对虚拟手臂自然的更好的控制(p<；；0.05)。总而言之，大脑可以根据视觉和躯体感觉反馈协议进行激活。
This paper presents a method to evaluate the hand-eye coordination of the master-slave surgical robot by measuring the activation of the intraparietal sulcus in users brain activity during controlling virtual manipulation. The objective is to examine the changes in activity of the intraparietal sulcus when the user's visual or somatic feedback is passed through or intercepted. The hypothesis is that the intraparietal sulcus activates significantly when both the visual and somatic sense pass feedback, but deactivates when either visual or somatic is intercepted. The brain activity of three subjects was measured by the functional near-infrared spectroscopic-topography brain imaging while they used a hand controller to move a virtual arm of a surgical simulator. The experiment was performed several times with three conditions: (i) the user controlled the virtual arm naturally under both visual and somatic feedback passed, (ii) the user moved with closed eyes under only somatic feedback passed, (iii) the user only gazed at the screen under only visual feedback passed. Brain activity showed significantly better control of the virtual arm naturally (p<;0.05) when compared with moving with closed eyes or only gazing among all participants. In conclusion, the brain can activate according to visual and somatic sensory feedback agreement.