Control Design and Task Performance in Endoscopic Teleoperation
Control Design and Task Performance in Endoscopic Teleoperation
复制标题
内窥镜远程操作中的控制设计和任务性能
DOI：
10.1162/105474600566781
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Joachim Meyer
中科院分区：
文献类型：
--
作者：
Orit Ben;M. Shoham;Joachim Meyer
内窥镜手术虽然为患者带来了可观的收益，但也给外科医生带来了新的困难。其中一个问题是支点效应，它会导致手术器械的运动（如监视器上所示）与外科医生手的运动方向相反。该问题已被证明会阻碍内窥镜技能的获得。遥控机械臂可以通过允许不同的控制响应关系来规避这个问题。在模拟内窥镜任务中比较了遥控操作设备的四种替代控制设计。具有两个自由度的刚性遥控机器人臂代表手术工具，以位置控制模式耦合到操纵杆。通过视频显示提供反馈。没有内窥镜检查经验的参与者执行了目标采集任务，首先将机械臂指向目标，然后操纵物体。性能是在视觉运动映射（正常/反向）和操纵杆方向（向上/向下）的四种不同组合下测量的。正常视觉运动映射下的任务完成时间明显短于反向视觉运动映射下的任务完成时间，这强调了远程操作内窥镜系统的潜在优势。操纵杆的方向仅在反向视觉运动映射下影响物体的操纵，这意味着手术工具的定位和使用该工具对组织或物体的操纵可能会受到控制设计的不同影响。
Endoscopic surgery, while offering considerable gains for the patient, has created new difficulties for the surgeon. One problem is the fulcrum effect, which causes the movement of a surgical instrument, as seen on the monitor, to be in the opposite direction to the movement of the surgeon's hand. The problem has been shown to impede the acquisition of endoscopic skills. Teleoperated robotic arms may circumvent this problem by allowing different control-response relations. Four alternative control designs of a teleoperated device were compared in a simulated endoscopic task. A rigid teleoperated robotic arm with two degrees of freedom representing a surgical tool was coupled to a joystick in a position control mode. Feedback was provided through a video display. Participants without prior experience in endoscopy performed a target acquisition task, first by pointing the robotic arm at the targets, and later by maneuvering an object. Performance was measured under four different combinations of visual-motor mapping (normal/reversed), and the joystick's orientation (upwards/downwards). Task completion time under normal visual-motor mapping was found to be significantly shorter than under reversed visual-motor mapping, emphasizing the potential advantage of a teleoperated endoscopic system. The joystick's orientation affected the maneuvering of an object under only the reversed visual-motor mapping, implying that the positioning of a surgical tool and the manipulation of tissues or objects with the tool may be differentially affected by the control design.