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A Virtual Coach to Enhance Surgical Training using Human-Centric Modeling and Adaptive Haptic Guidance

使用以人为本的建模和自适应触觉指导来增强手术训练的虚拟教练

基本信息

批准号：
10707099
负责人：
Ann Majewicz Fey
金额：
$ 36.1万
依托单位：
UNIVERSITY OF TEXAS AT AUSTIN
依托单位国家：
美国
项目类别：
财政年份：
2020
资助国家：
美国
起止时间：
2020-09-18 至 2024-06-30
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/10707099
关键词：
Algorithms Area Artificial tissue Behavior Bilateral Cause of Death Cessation of life Clinical Clinical Trials Cognitive Competence Complex Coupled Credentialing Cues Data Development Devices Discipline of obstetrics Education Educational Curriculum Effectiveness Environment Evaluation Feedback Freedom Funding Mechanisms Future Goals Gynecologic Oncology Gynecology Hand Hospital Costs Human Individual Injury Intelligence Intuition Learning Machine Learning Measures Medical Errors Medical center Methods Modeling Morbidity - disease rate Motion Movement Nature Observational Study Operative Surgical Procedures Outcome Patient Care Patient-Focused Outcomes Patients Performance Physiological Positioning Attribute Procedures Provider Research Resource-limited setting Robot Robotics Rotation Safety Shapes Standardization Surgeon Surgical Error Surgical Models Surveys System Tactile Techniques Technology Testing Time Tissue Model Training Translations Tremor United States Urinary Diversion Urology Validation Visual Work Wrist data-driven model design effectiveness evaluation emotional factor experience experimental study haptic feedback haptics human model improved kinematics medical specialties mortality new technology novel predictive modeling preference prevent public health relevance recruit robotic system robotic training simulation skills success teleoperation virtual coach virtual reality visual feedback

项目摘要

PROJECT SUMMARY We aim to reduce surgical robotic errors by developing novel technology to coach experienced practitioners by using real-time data-driven predictive models of operator behavior, task difﬁculty, and expertise levels during complex surgical training tasks. This technology could increase the effectiveness of simulation-based training, particularly for practicing clinicians, as the predictive models will inform the design of adaptive and personalized feedback for the surgeon. Surgical training typically involves didactic learning, skills labs, and practice on live patients. Safety concerns asso- ciated with training on patients has led to signiﬁcant developments in simulation-based technology; however, existing simulators may lack the ability promote mastery of skills for practicing providers. Improved training is important for both the provider and the patient. An estimated 100,000 death per year occur due to preventable medical errors. In robotic surgeries, the majority of patient injuries can be attributed to inexperience and lack of technical competence of the attending surgeon. These errors could potentially be avoided through personalized and adaptive coaching. In general, robotic systems can sense and adapt to their environment, even act autonomously to complete a task. However, the majority of surgical robots used today are “teleoperated systems". These systems only perform tasks directly commanded by the human operator, possibly with some scaling or tremor cancellation. There is a missed opportunity to leverage the intelligence of robotic systems to sense and interpret the movements of the surgeon and to enable some form of adaptive feedback for personalized coaching. Our prior work in human-centric modeling could hold the key to the technical challenge of integrating intelligent methods into existing surgical robotic training platforms by better understanding the technical strengths and weaknesses of the practicing surgeon in a data-driven manner. The long-term goal of this project is to improve surgical training outcomes by developing a personalized and adaptive surgical robotic coach capable of providing meaningful feedback to the practicing provider to optimize learning and skill transfer. The speciﬁc aims of the proposal include: (1) evaluate the ability of human- centric models to characterize surgeon performance using motion and video data, (2) design adaptive haptic or visual guidance cues to provide learners with real-time feedback and to optimize learning, and (3) evaluate the effectiveness of the adaptive technology coach through end-user validation using procedural-speciﬁc training models for general surgery, urology, and gynecologic oncology. This project could signiﬁcantly improve provider training in robotic surgery. The project could also improve provider training for laparoscopic and open surgery as the models used to develop the virtual coach are inherently human-centric and not tied to any speciﬁc surgical tasks or surgical platforms. Our team is uniquely positioned to achieve success in this project, bringing together experts in surgical robotics, human-centric modeling, machine learning, and advanced surgical training. We have conducted extensive preliminary studies in areas related to this proposal, supporting feasibility of this project. Our integration with the Simulation Center at UTSW will enable translation of successful outcomes of this project into the surgical training and retraining pipeline.

项目总结我们的目标是通过开发新技术来指导经验丰富的医生，从而减少手术机器人的错误复杂手术过程中操作员行为、任务差异和专业知识水平的实时数据驱动预测模型培训任务。这项技术可以提高基于模拟的培训的有效性，特别是在实践中临床医生，因为预测模型将为外科医生提供自适应和个性化的反馈设计。外科培训通常包括授课学习、技能实验室和对活体患者的练习。安全问题也是如此- 与对患者的培训相关联导致了基于模拟的技术的显著发展；然而，现有的ﬁ 模拟器可能缺乏促进实践者掌握技能的能力。改进培训对双方都很重要提供者和病人。据估计，每年有10万人死于可预防的医疗差错。在机器人领域在外科手术中，大多数患者的受伤可以归因于缺乏经验和缺乏技术能力主治医生。这些错误可以通过个性化和适应性的指导来避免。一般来说，机器人系统可以感知和适应环境，甚至可以自主行动来完成任务。然而，今天使用的大多数外科机器人都是“远程操作系统”。这些系统只执行任务由人工操作员直接指挥，可能会有一定的比例或震动抵消。有一次遗漏了利用机器人系统的智能来感知和解释外科医生的动作和为个性化教练提供某种形式的自适应反馈。我们之前在以人为中心的建模方面的工作可能掌握将智能方法集成到现有手术机器人培训平台中的技术挑战的关键通过以数据驱动的方式更好地了解执业外科医生的技术优势和劣势。该项目的长期目标是通过开发个性化的外科培训来提高外科培训的结果以及能够向执业提供者提供有意义的反馈的自适应手术机器人教练优化学习和技能转移。该提案的具体目的包括：(1)评估人的能力--ﬁ-- 使用运动和视频数据来表征外科医生表现的中心模型，(2)设计自适应触觉或视觉指导提示，为学习者提供实时反馈并优化学习，以及(3)评估有效性通过最终用户验证，使用面向一般用户的程序规范ﬁc培训模型进行自适应技术培训外科、泌尿外科和妇科肿瘤学。这个项目可以显著改善ﬁ在机器人手术方面的培训。该项目还可以改善对腹腔镜和开腹手术提供者的培训，因为这些模型用于开发虚拟教练本质上是以人为中心的，不受任何特定的手术任务或手术平台的约束。我们的团队处于独特的地位，能够在这个项目中取得成功，将外科机器人领域的专家聚集在一起，以人为中心的建模、机器学习和高级外科培训。我们已经进行了广泛的初步调查对与该提案相关的领域进行研究，支持该项目的可行性。我们与仿真中心的集成 UTSW将能够将该项目的成功成果转化为外科培训和再培训管道。

项目成果

期刊论文数量（8）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery

DOI：
10.1109/iros47612.2022.9981611
发表时间：
2022-10
期刊：
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
0
作者：
Chang Shi;Y. Zheng;A. M. Fey
通讯作者：
Chang Shi;Y. Zheng;A. M. Fey

Toward Correcting Anxious Movements Using Haptic Cues on the Da Vinci Surgical Robot

DOI：
10.1109/biorob52689.2022.9925380
发表时间：
2022-08
期刊：
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
影响因子：
0
作者：
Y. Zheng;Marzieh Ershad;A. M. Fey
通讯作者：
Y. Zheng;Marzieh Ershad;A. M. Fey

Determining the Significant Kinematic Features for Characterizing Stress during Surgical Tasks Using Spatial Attention

使用空间注意力确定手术任务期间表征应力的重要运动学特征