Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation
Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation
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DOI：
10.1109/icra.2019.8794085
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发表时间：
2019-02
期刊：
影响因子：
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通讯作者：
Florian Richter;Ryan K. Orosco;Michael C. Yip
中科院分区：
文献类型：
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作者：
Florian Richter;Ryan K. Orosco;Michael C. Yip
机器人遥操作为外科领域的发展带来了巨大的潜力。外科医生远程接触病人的能力带来了令人兴奋的机会。远程机器人手术的早期经验很有趣，但临床可行性仍然遥不可及，这主要是由于通信延迟的有害影响。遥操作任务受到不可避免的信号延迟的严重影响，这直接导致操作速度变慢、运动精度降低和人为错误增加。对外科手术工作流程进行重大改变，例如引入半自动或自我纠正，对于商业外科机器人系统来说，带来了太大的技术和伦理负担。在本文中，我们提出了三种简单直观的运动缩放解决方案，用于对抗延迟情况下的遥操作机器人系统，并帮助提高操作员的精度。运动缩放提供了潜在的改进的用户性能和减少的错误，而对底层的遥操作架构的改变最小。为了验证运动缩放在远程手术中作为性能增强器的使用，我们对17名参与者进行了用户研究，结果表明，所提出的解决方案确实降低了在高延迟下操作的错误率。
Robotic teleoperation brings great potential for advances within the field of surgery. The ability of a surgeon to reach patient remotely opens exciting opportunities. Early experience with telerobotic surgery has been interesting, but the clinical feasibility remains out of reach, largely due to the deleterious effects of communication delays. Teleoperation tasks are significantly impacted by unavoidable signal latency, which directly results in slower operations, less precision in movements, and increased human errors. Introducing significant changes to the surgical workflow, for example by introducing semi-automation or self-correction, present too significant a technological and ethical burden for commercial surgical robotic systems to adopt. In this paper, we present three simple and intuitive motion scaling solutions to combat teleoperated robotic systems under delay and help improve operator accuracy. Motion scaling offers potentially improved user performance and reduction in errors with minimal change to the underlying teleoperation architecture. To validate the use of motion scaling as a performance enhancer in telesurgery, we conducted a user study with 17 participants, and our results show that the proposed solutions do indeed reduce the error rate when operating under high delay.