Evaluating control modes for constrained robotic surgery
Evaluating control modes for constrained robotic surgery
复制标题
评估受限机器人手术的控制模式
DOI：
10.1109/robot.2000.844119
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
R. Howe
中科院分区：
文献类型：
--
作者：
Fuji Lai;R. Howe
微创手术（MIS）通过排除切口处的侧向运动将器械运动限制在4个自由度。机器人MIS系统可以在外科医生在主控制器处的运动与器械尖端在患者体内的运动之间建立任意映射。我们的目标是找到最容易学习的接口。我们调查了不同的坐标框架映射（屏幕映射与仪器映射）和主灵巧度（6自由度与4自由度）的影响，通过简单的手术任务的性能指标。所有四种模式-敏捷组合的完成时间大致相同。基于仪器的标测和4 DOF Master的组合具有较低的错误率和较低的主观工作量。该模式最清楚地再现了患者体内的任务约束。
Minimally invasive surgery (MIS) constrains instrument motions to 4 DOF by precluding lateral motion at the incision. Robotic MIS systems can interpose arbitrary mappings between the surgeon's motions at the master controller and the motions of instrument tips within the patient's body. Our goal was to find the interface that was easiest to learn. We investigated the effects of different coordinate frame mappings (screen-mapped versus instrument-mapped) and master dexterities (6 DOF versus 4 DOF) by means of performance measures on simple surgical tasks. All four mode-dexterity combinations had approximately the same time-to-completion. The combination of instrument-based mapping and 4 DOF master had lower error rate and lower subjective workload. This mode most clearly reproduces the task constraints within the patient's body.