Tremor Assessment in Robot-Assisted Microlaryngeal Surgery Using Computer Vision-Based Tool Tracking.
Tremor Assessment in Robot-Assisted Microlaryngeal Surgery Using Computer Vision-Based Tool Tracking.
复制标题
使用基于计算机视觉的工具跟踪进行机器人辅助显微喉手术的震颤评估。
DOI：
10.1002/ohn.714
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发表时间：
2024
期刊：
影响因子：
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通讯作者：
Galaiya,Deepa
中科院分区：
文献类型：
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作者：
Cho,SueM;Joo,HenryH;Golla,Pranathi;Sahu,Manish;Shankar,Ahjeetha;Trakimas,DanielleR;Creighton,Francis;Akst,Lee;Taylor,RussellH;Galaiya,Deepa
目的利用基于视频的喉部手术器械显微跟踪技术，探讨机器人辅助治疗喉部器械震颤的效果。研究设计：实验性试验。三级学术医疗中心。方法在这项随机交叉试验中，记录了6名外科医生对死猪进行左、右喉切除术的36段视频。这些记录捕获了3种不同的条件：没有机器人辅助，有机器人辅助剪刀，和有机器人辅助抓握器。为了评估工具震颤，我们采用基于计算机视觉的算法来跟踪手术工具。绝对震颤带功率和归一化路径长度作为定量指标。采用Wilcoxon秩和精确检验进行统计分析和试验间比较。此外，还进行了调查，以评估机器人系统的易用性。结果与徒手仪器相比，使用机器人辅助仪器的绝对震动带功率明显降低（P= 0.012）。与徒手试验相比，机器人辅助的归一化路径长度显著减少（P= .001）。对于剪刀，机器人辅助试验导致绝对震颤带功率（P= 0.002）和归一化路径长度（P< 0.001）显著降低。对于抓握者，绝对震颤带功率无显著差异(P=。4)，但在机器人辅助试验中，归一化路径长度明显较低（P= .03）。结论本研究表明，基于计算机视觉的方法可用于评估模拟微喉手术中工具的运动。结果表明，机器人辅助能够减少仪器震颤。
ObjectiveUse microscopic video‐based tracking of laryngeal surgical instruments to investigate the effect of robot assistance on instrument tremor.Study DesignExperimental trial.SettingTertiary Academic Medical Center.MethodsIn this randomized cross‐over trial, 36 videos were recorded from 6 surgeons performing left and right cordectomies on cadaveric pig larynges. These recordings captured 3 distinct conditions: without robotic assistance, with robot‐assisted scissors, and with robot‐assisted graspers. To assess tool tremor, we employed computer vision‐based algorithms for tracking surgical tools. Absolute tremor bandpower and normalized path length were utilized as quantitative measures. Wilcoxon rank sum exact tests were employed for statistical analyses and comparisons between trials. Additionally, surveys were administered to assess the perceived ease of use of the robotic system.ResultsAbsolute tremor bandpower showed a significant decrease when using robot‐assisted instruments compared to freehand instruments (P= .012). Normalized path length significantly decreased with robot‐assisted compared to freehand trials (P= .001). For the scissors, robot‐assisted trials resulted in a significant decrease in absolute tremor bandpower (P= .002) and normalized path length (P< .001). For the graspers, there was no significant difference in absolute tremor bandpower (P= .4), but there was a significantly lower normalized path length in the robot‐assisted trials (P= .03).ConclusionThis study demonstrated that computer‐vision‐based approaches can be used to assess tool motion in simulated microlaryngeal procedures. The results suggest that robot assistance is capable of reducing instrument tremor.