NRI: Guiding with Touch: Haptic Cueing of Surgical Techniques on Virtual and Robotic Platforms

NRI：触摸引导：虚拟和机器人平台上手术技术的触觉提示

• 批准号: 1638073
• 负责人: Marcia O'Malley
• 金额: $ 100万
• 依托单位: William Marsh Rice University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1638073&HistoricalAwards=false
• 关键词: NRI; Guiding; Touch; Haptic; Cueing

Virtual reality has enabled surgeons to train on procedures without risk to patients. However, the feedback surgical trainees receive is delayed, subjective, and qualitative, thereby lacking support for rapid acquisition of skill. This project will enhance surgical performance and training by providing performance feedback using touch-based cues that convey movement quality and strategies rather than task outcomes like procedure time. This will allow trainees to get feedback that is immediate and quantitative, and result in improved performance in difficult-to-train motor skills. Should this research prove successful, there is an opportunity to make meaningful changes in how surgeons are trained. Co-robots in the endovascular surgical domain can take several forms, from a virtual reality simulator that mimics patient-specific procedures, enabling high-fidelity procedural rehearsal, to telesurgical systems that are used to navigate flexible robotic tools to anatomical locations. Such systems require significant skill to use and, in turn, a rigorous training protocol before certification to operate with the robot is granted. To date, training protocols rely on practice and subjective feedback by a skilled observer, and acquisition of skill on these systems can be inefficient. Furthermore, there is a lack of objective metrics of skill acquisition. This project will investigate the use of haptic feedback to trainees based on motion-based performance metrics, and will evaluate the potential role of this feedback modality during performance and training for simulated and robotic endovascular surgical tasks. In particular, the project will evaluate the benefit of providing specific performance feedback that highlights task strategies in the motion space, and the effect of providing such directed feedback on learning and retention of the task.

虚拟现实使外科医生能够在不给患者带来风险的情况下进行手术培训。然而，外科受训者收到的反馈是延迟的、主观的和定性的，从而缺乏对快速获得技能的支持。该项目将通过使用基于触摸的线索提供性能反馈来提高手术性能和培训，这些线索传达运动质量和策略，而不是任务结果，如手术时间。这将使受训者得到即时和定量的反馈，并提高难以训练的运动技能的表现。如果这项研究被证明是成功的，就有机会在外科医生的培训方式上做出有意义的改变。血管内手术领域中的协作机器人可以采取多种形式，从模拟患者特定手术的虚拟现实模拟器，实现高保真手术排练，到用于将柔性机器人工具导航到解剖位置的外科手术系统。这样的系统需要大量的技能来使用，反过来，在授予与机器人一起操作的认证之前，需要严格的培训协议。迄今为止，训练协议依赖于熟练观察者的实践和主观反馈，并且在这些系统上获得技能可能是低效的。此外，缺乏技能获取的客观衡量标准。该项目将研究基于运动的性能指标向学员提供触觉反馈的使用，并将评估这种反馈方式在模拟和机器人血管内手术任务的性能和培训期间的潜在作用。特别是，该项目将评估提供突出运动空间中的任务策略的特定表现反馈的好处，以及提供此类定向反馈对任务学习和保持的影响。

项目成果

Haptic Feedback Based on Movement Smoothness Improves Performance in a Perceptual-Motor Task

基于运动平滑度的触觉反馈可提高感知运动任务的性能

• DOI: 10.1109/toh.2021.3126017
• 发表时间: 2022
• 期刊: IEEE Transactions on Haptics
• 影响因子: 2.9
• 作者: Sullivan, Jennifer L.;Pandey, Shivam;Byrne, Michael D.;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.

In the Fundamentals of Endovascular and Vascular Surgery model motion metrics reliably differentiate competency

在血管内和血管外科模型的基础知识中，运动指标可靠地区分能力

• DOI: 10.1016/j.jvs.2020.02.047
• 发表时间: 2020
• 期刊: Journal of Vascular Surgery
• 影响因子: 4.3
• 作者: Belvroy, Viony M.;Murali, Barathwaj;Sheahan, Malachi G.;O'Malley, Marcia K.;Bismuth, Jean
• 通讯作者: Bismuth, Jean

Toward training surgeons with motion-based feedback: Initial validation of smoothness as a measure of motor learning

通过基于运动的反馈来培训外科医生：作为运动学习衡量标准的平滑度的初步验证

• DOI: 10.1177/1541931213601747
• 发表时间: 2017
• 期刊: Proceedings of the Human Factors and Ergonomics Society Annual Meeting
• 作者: Pandey, Shivam;Byrne, Michael D.;Jantscher, William H.;O’Malley, Marcia K.;Agarwal, Priyanshu
• 通讯作者: Agarwal, Priyanshu

Towards Automated Performance Assessment using Velocity-based Motion Quality Metrics

使用基于速度的运动质量指标实现自动性能评估

• 发表时间: 2020
• 期刊: 2020 International Symposium on Medical Robotics (ISMR
• 作者: Murali, Barathwaj;Belvroy, Viony;Pandey, Shivam;Byrne, Michael D.;Bismuth, Jean;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.

Velocity-Domain Motion Quality Measures for Surgical Performance Evaluation and Feedback

• DOI: 10.1115/1.4049310
• 发表时间: 2021-03-01
• 期刊: JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
• 影响因子: 0.9
• 作者: Murali, Barathwaj;Belvroy, Viony M.;O'Malley, Marcia K.
• 通讯作者: O'Malley, Marcia K.