Augmented Reality Assisted Instrument Insertion and Tool Manipulation for the First Assistant in Robotic Surgery
Augmented Reality Assisted Instrument Insertion and Tool Manipulation for the First Assistant in Robotic Surgery
复制标题
增强现实辅助器械插入和工具操作，为机器人手术的第一助手提供帮助
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
P. Kazanzides
中科院分区：
文献类型：
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作者：
Long Qian;A. Deguet;Zerui Wang;Yunhui Liu;P. Kazanzides
在机器人辅助腹腔镜手术中，第一助理（FA）站在床边协助干预，而外科医生坐在控制台远程操作机器人。FA的任务包括将新器械导航到外科医生的视野中，并使用手持工具将材料送入体内或从体内取出。我们之前开发了ARssist，一个基于光学透视头戴式显示器的增强现实应用程序，以帮助FA。在本文中，我们完善了系统，并首先进行了试点研究，有三个经验丰富的外科医生两个特定的任务：仪器插入和工具操作。结果表明，ARssist将是特别有用的经验不足的助理和困难的手眼配置。然后，我们进行了一个多用户的研究与经验不足的主题。结果表明，ARssist可以减少34.57%的导航时间，提高插入路径的一致性41.74%，减少均方根路径偏差40.04%，减少72.25%的工具操作时间。因此，ARssist有潜力提高效率，安全性和手眼协调，特别是对于新手助理。
In robotic-assisted laparoscopic surgery, the first assistant (FA) stands at the bedside assisting the intervention, while the surgeon sits at the console teleoperating the robot. Tasks for the FA include navigating new instruments into the surgeon’s field-of-view and passing in or retracting materials from the body using hand-held tools. We previously developed ARssist, an augmented reality application based on an optical see-through head-mounted display, to aid the FA. In this paper, we refine the system and first perform a pilot study with three experienced surgeons for two specific tasks: instrument insertion and tool manipulation. The results suggest that ARssist would be especially useful for less experienced assistants and for difficult hand-eye configurations. We then perform a multi-user study with inexperienced subjects. The results show that ARssist can reduce navigation time by 34.57%, enhance insertion path consistency by 41.74%, reduce root-mean-square path deviation by 40.04%, and reduce tool manipulation time by 72.25%. Thus, ARssist has the potential to improve efficiency, safety and hand-eye coordination, especially for novice assistants.