Adaptive Surgical Robotic Training Using Real-Time Stylistic Behavior Feedback Through Haptic Cues
Adaptive Surgical Robotic Training Using Real-Time Stylistic Behavior Feedback Through Haptic Cues
复制标题
通过触觉提示使用实时风格行为反馈的自适应手术机器人训练
DOI：
10.1109/tmrb.2021.3124128
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Fey, Ann Majewicz
中科院分区：
文献类型：
--
作者：
Ershad, Marzieh;Rege, Robert;Fey, Ann Majewicz
手术技巧直接影响手术效果；因此，需要有效的培训来确保令人满意的结果。已经开发了许多客观的评估指标，为受训者提供有关其绩效的描述性反馈，然而，这些指标通常缺乏关于如何提高绩效的反馈。最有效的培训方法是直观、容易理解、个性化、及时提供的培训方法。我们提出了一个框架，基于直觉的手术动作风格，使用近乎实时的性能检测来实现用户自适应训练，并设计了一个触觉反馈框架来帮助纠正运动风格。我们评估了三种类型的力反馈（弹簧，阻尼和弹簧加阻尼反馈）的能力，基于先前的用户位置计算，以改善用户在运动学约束下达到运动任务时的不同风格行为。结果表明，本文研究的六种风格中有五种至少使用了三种力反馈中的一种而得到了改善。在存在三种类型的反馈的情况下比较任务绩效指标。与其他两种类型的反馈相比，应用弹簧反馈时，任务时间在统计上显着降低。与其他两种反馈相比，使用弹簧阻尼反馈可显著改善路径直线度和瞄准误差。本研究提出了基于近实时的以人为中心的手术行为模型的机器人手术自适应训练的基础。
Surgical skill directly affects surgical procedure outcomes; thus, effective training is needed to ensure satisfactory results. Many objective assessment metrics have been developed that provide the trainee with descriptive feedback about their performance however, these metrics often lack feedback on how to improve performance. The most effective training method is one that is intuitive, easy to understand, personalized, and provided in a timely manner. We propose a framework to enable user-adaptive training using near real-time detection of performance, based on intuitive styles of surgical movements, and design a haptic feedback framework to assist with correcting styles of movement. We evaluate the ability of three types of force feedback (spring, damping, and spring plus damping feedback), computed based on prior user positions to improve different stylistic behaviors of the user during kinematically constrained reaching movement tasks. The results indicate that five out of six styles studied here were improved using at least one of the three types of force feedback. Task performance metrics were compared in the presence of the three types of feedback. Task time was statistically significantly lower when applying spring feedback, compared to the other two types of feedback. Path straightness and targeting error were statistically significantly improved when using spring-damping feedback compared to the other two types of feedback. This study presents a groundwork for adaptive training in robotic surgery based on near real-time human-centric models of surgical behavior.
登录
查看更多内容
基于绩效的机器人手术培训自适应课程的设计和评估：试点研究
DOI：
10.1109/embc.2018.8512728
发表时间：
2018
期刊：
2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
影响因子：
--
作者：
A. Mariani;Edoardo Pellegrini;Nima Enayati;P. Kazanzides;Marco Vidotto;E. Momi
通讯作者：
E. Momi
DOI：
10.1007/s11548-018-1738-2
发表时间：
2018-07-01
影响因子：
3
作者：
Ershad, M.;Rege, R.;Fey, A. Majewicz
通讯作者：
Fey, A. Majewicz
使用自动特征提取方法评估手术技能水平
DOI：
--
发表时间：
2018
期刊：
Medical Imaging
影响因子：
--
作者：
Marzieh Ershad;R. Rege;A. Majewicz
通讯作者：
A. Majewicz
外科教育中的反馈基础：成功秘诀。
DOI：
--
发表时间：
2015
期刊：
Bulletin of the American College of Surgeons
影响因子：
--
作者：
Rebecca L. Hoffman;Jacob A. Petrosky;M. Eskander;Luke V. Selby;A. Kulaylat
通讯作者：
A. Kulaylat
DOI：
10.1109/haptics.2008.4479929
发表时间：
2008
期刊：
2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
影响因子：
--
作者：
Xing;W. Bischof;P. Boulanger
通讯作者：
P. Boulanger