A virtual suturing task: proof of concept for awareness in autonomous camera motion
A virtual suturing task: proof of concept for awareness in autonomous camera motion
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DOI：
10.1109/irc55401.2022.00073
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发表时间：
2022-12
期刊：
影响因子：
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通讯作者：
Nicolò Pasini;A. Mariani;A. Munawar;E. Momi;P. Kazanzides
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文献类型：
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作者：
Nicolò Pasini;A. Mariani;A. Munawar;E. Momi;P. Kazanzides
机器人辅助微创手术（MIS）要求外科医生交替控制手术器械和内窥镜相机，或者把这个负担留给助手。这增加了认知负荷并中断了操作的工作流程。相机运动自动化已经在文献中进行了研究，以减轻这些方面，但仍然缺乏态势感知，这是增强相机导航的关键因素。本文介绍了一个相位特定的相机运动自动化的发展，实现在虚拟现实（VR）在一个缝合任务。一项涉及10名用户的用户研究使用达芬奇研究套件的主控制台进行。每个受试者在完成缝合任务时都经历了自主相机运动和传统的手动相机控制。结果表明，该系统可以减少操作时间，降低用户的体力和脑力需求。态势感知被证明是利用摄像机运动自动化带来的好处的基础。
Robot-assisted Minimally Invasive Surgery (MIS) requires the surgeon to alternatively control both the surgical instruments and the endoscopic camera, or to leave this burden to an assistant. This increases the cognitive load and interrupts the workflow of the operation. Camera motion automation has been examined in the literature to mitigate these aspects, but still lacks situation awareness, a key factor for camera navigation enhancement. This paper presents the development of a phase-specific camera motion automation, implemented in Virtual Reality (VR) during a suturing task. A user study involving 10 users was carried out using the master console of the da Vinci Research Kit. Each subject performed the suturing task undergoing both the proposed autonomous camera motion and the traditional manual camera control. Results show that the proposed system can reduce operational time, decreasing both the user's mental and physical demand. Situational awareness is shown to be fundamental in exploiting the benefits introduced by camera motion automation.