Impact of network time-delay and force feedback on tele-surgery
Impact of network time-delay and force feedback on tele-surgery
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DOI：
10.1007/s11548-008-0228-3
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发表时间：
2008-09-01
影响因子：
3
通讯作者：
Hashizume, Makoto
中科院分区：
文献类型：
--
作者：
Arata, Jumpei;Takahashi, Hiroki;Hashizume, Makoto
研究目的：研制具有远程手术能力的机器人微创手术系统，并利用传统的网络基础设施进行了多次远程手术实验，包括日泰、日韩远程手术实验。在这些实验中，腹腔镜胆囊切除术已成功地进行了猪。另一方面，重复任务评估研究也是远程手术应用的进一步研究的关键。网络时延下遥操作机器人系统的任务评估问题是近年来国内外学者研究的热点。这些实验主要集中在简化的任务，如钉孔任务。然而，微创手术中的大多数手术程序是基于医学特定技能，例如外科医生的解剖学知识和过去的经验。从这些角度来看，在两个任务，包括手术导向的操作进行了试验性实验，研究网络时延和力反馈对远程surgical.Materials和方法的影响进行了实验，通过使用微创手术系统。作为实验设置，使用研究和开发因特网JGN 2（日本千兆网络2）作为网络基础设施，并且由包括5名医生在内的15名受试者执行两个任务。试验条件是通过改变时间延迟（两个任务）和力反馈（第一个任务）。第一个任务被配置为测试简单的外科手术，其通常在腹腔镜检查中作为外科手术工具的平移运动来执行。受试者被指示触摸位于正方形的点上的四个柱。第二个任务被配置为测试集成的外科手术。结果在第一个任务中，通过延时，完成时间增加了约50%。通过使用力反馈，减小了施加的力。然而，力反馈的有效性在MD组中并不明显。另一方面，在MD和非MD组中，力反馈的有效性在手术工具尖端上施加的力中得到了强烈的体现。在第二个任务中，时间延迟的不利影响在MD组中没有表现出来。通过对运动记录的分析发现，经验丰富的外科医生对“闭塞问题”的技能可能与结果有关。这些结果表明，熟练的手术操作者可以通过根据所需的手术任务介绍他们的技能来克服时间延迟的不利影响。然而，时间延迟的缺点仍然存在安全问题。力反馈的有效性强烈显示在第一个任务中所施加的力对周围environment.Conclusions力反馈是一个必要的技术，为进一步应用的远程手术。此外，力反馈技术可以部分地用于补偿时间延迟的缺点。
Object We have developed a robotic minimally invasive surgical system within a tele-surgery capability and conducted several times of tele-surgery experiments including Japan-Thailand and Japan-Korea tele-surgery experiments by using conventional network infrastructures. In these experiments, laparoscopic cholecystectomies have been successfully performed on pigs. On the other hand, repetitive task evaluation studies are also crucial for further studies on tele-surgery applications. Nowadays, task evaluations of tele-robotic system within network time-delay have been studied in past years by many researchers. These experiments have been mostly focused on simplified tasks such as a peg-in-hole task. However, most of surgical procedures in minimally invasive surgery are based on medical specific skills such as anatomical knowledge and past experiences of surgeons. From these perspectives, a trial experiment within two tasks including surgery oriented manipulations was conducted to study the impact of network time-delay and force feedback on tele-surgery.Materials and methods The experiment was conducted by using the minimally invasive surgical system. As the experimental setup, a research and development Internet, JGN2 (Japan Gigabit Network 2) was used as a network infrastructure, and two tasks were performed by 15 subjects including 5 medical doctors. The trial conditions were given by changing time-delay (on the both tasks) and force feedback (on the first task). The first task was configured to test a simple surgical procedure, which is commonly performed in a laparoscopy as translational motions of surgical tools. The subjects were instructed to touch four columns located on points of a square. The second task was configured to test integrated surgical procedures. The subjects were instructed to perform a part of suturing procedures by using the robotic bending forceps.Results In the first task, the completion time was increased approximately 50% by time-delay. By using force feedback, the applied force was decreased. However, the effectiveness of force feedback was not strongly shown in MD group. On the other hand, the effectiveness of the force feedback was strongly shown in the applied force on the tip of surgical tool in both MD and non-MD groups. In the second task, the adverse impact of time-delay was not strongly shown in MD group. From the analysis of the motion records found that a skill of experienced surgeons on "occlusion problem" could be related in the results. These results indicate that skilful operators on surgical procedures can overcome the adverse impact of time-delay by introducing their skills depending on required surgical tasks. However, the drawback of time-delay still remains concerning on safety issues. The effectiveness of the force feedback was strongly shown in the first task in terms of the applied force on the surrounding environment.Conclusions Force feedback is an essential technology for further applications of tele-surgery. In addition, the force feedback technology can be partially used for compensating the drawback of time-delay.