TeleRobotic Fundamentals of Laparoscopic Surgery (FLS): Effects of time delay - pilot study
TeleRobotic Fundamentals of Laparoscopic Surgery (FLS): Effects of time delay - pilot study
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腹腔镜手术 (FLS) 的远程机器人基础知识：时间延迟的影响 - 试点研究
DOI：
10.1109/iembs.2008.4650483
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
B. Hannaford
中科院分区：
文献类型：
--
作者：
Mitchell J. H. Lum;J. Rosen;T. Lendvay;A. Wright;M. Sinanan;B. Hannaford
在远程机器人手术领域内，尚未建立手术相关性能评估的标准化方法。美国胃肠和内窥镜外科医生协会（SAGES）腹腔镜手术（FLS）计划基础提供了一套标准化任务，被认为是手术技能评估的“金标准”。我们提出了一种方法，使用的SAGES FLS手术机器人的性能评估任务之一。远程机器人FLS方法可扩展到其他两个FLS任务。在一般的远程操作，特别是神经外科手术中的时间延迟是限制远程机器人手术性能的基本影响之一。在这项初步研究中，时间延迟对块转移任务的性能的影响进行了研究。RAVEN手术机器人用于主/从配置，其中通过网络仿真器在主（外科医生部位）和从（患者部位）之间引入0、250、500和1000 ms的时间延迟。该研究包括三名受试者，每个人都有四种条件中的三种。结果表明，一个受试者有一个较低的错误率随着时间延迟的增加，而其他受试者有一个较高的错误率随着延迟的增加。平均完成时间最长的被试在时间延迟下的成绩下降最小。
Within the area of telerobotic surgery no standardized means of surgically relevant performance evaluation has been established. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) Fundamentals of Laparoscopic Surgery (FLS) program provides a set of standardized tasks that are considered the “gold standard” in surgical skill assessment. We present a methodology for using one of the SAGES FLS tasks for surgical robotic performance evaluation. The TeleRobotic FLS methodology is extendable to two other FLS tasks. Time delay in teleoperation in general and telesurgery in particular is one of the fundamental effects that limits performance in telerobotic surgery. In this pilot study the effect of time delay on the Block Transfer task performance was investigated. The RAVEN Surgical Robot was used in a master/slave configuration in which time delays of 0, 250, 500, and 1000 ms were introduced by a network emulator between the master (Surgeon Site) and the slave (Patient Site). The study included three subjects, each of whom was presented with three of the four conditions. The results show that one subject had a lower error rate with increasing time delay, whereas the other subjects had a higher error rate with increased delay. The subject with the longest average completion time suffered the least performance decrease under time delay.