Development of a Transoral Robotic Surgery Training Platform*
Development of a Transoral Robotic Surgery Training Platform*
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经口机器人手术培训平台的开发*
DOI：
10.1109/embc.2019.8856971
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Mendelsohn
中科院分区：
文献类型：
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作者：
R. Geoghegan;Jonathan Song;Aadesh Singh;T. Le;Ahmad Abiri;A. Mendelsohn
经口机器人手术（TORS）由于难以在口腔的狭窄范围内操纵手术器械而面临独特的挑战。末端执行器和解剖结构之间的碰撞可以通过内窥镜可视化;但是，器械轴碰撞在视场之外。由于缺乏适当的培训平台，获得必要的技能以尽量减少这些冲突具有挑战性。在本文中，我们提出了一个TORS训练平台，集成了碰撞传感系统和实时触觉反馈。初步测试包括招募10名耳鼻喉科住院医师，分为“反馈”组（N=5）和“无反馈”组（N=5）。每个受训者进行三次模拟手术，包括从舌根切除肿瘤。在反馈组中观察到上级手术性能，表明触觉反馈将增强手术技能的获得。
Transoral robotic surgery (TORS) presents unique challenges due to difficulty manipulating surgical instruments within the tight confines of the oral cavity. Collisions between the end effectors and anatomical structures can be visualized through the endoscope; however, instrument shaft collisions are outside of the field-of-view. Acquiring the requisite skill set to minimize these collisions is challenging due to the lack of an appropriate training platform. In this paper, we present a TORS training platform with an integrated collision sensing system and real-time haptic feedback. Preliminary testing involved the recruitment of 10 Otolaryngology residents assigned to ‘feedback’ (N=5) and ‘no feedback’ (N=5) groups. Each trainee performed three mock surgical procedures involving the resection of a tumor from the base of the tongue. Superior surgical performance was observed in the feedback group suggesting that haptic feedback will enhance the acquisition of surgical skills.