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Evaluation of Different Modes of Haptic Guidance for Robotic Surgery

机译：机器人外科触觉指导不同模式的评价

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The evolution of surgery has resulted in a plethora of systems varying in their application field, size, as well as degree of autonomy. Especially systems which combine principles of so-called synergistic robotic systems and master-slave-telemanipulators are interesting concerning cooperative aspects of surgeon and robotic system. While the former provide haptic guidance information (“virtual fixtures”), the latter provide haptic feedback from position or force sensor information of the slave device. During the design of these combined systems particular attention has to be paid during the allocation of information to the haptic information channel as superimposing of haptic guidance information and haptic sensor feedback can lead to concealment of essential feedback information. This paper reports on an experimental usability evaluation of different haptic guidance modes varying in their degree of autonomy as well as degree of freedom (DOF) with respect to three surgical scenarios, namely reaching a predefined position and orientation, tracking a predefined 3D trajectory, and applying a defined force (such as during e.g. a 3D-bone milling task). The goal was to evaluate whether some DOF of haptic guidance information can be left free for force sensor information feedback. General findings indicate that haptic guidance does not have to be augmented on three DOF to improve usability. Therefore, a combination of haptic sensor information feedback and haptic guidance information divided between individual DOF seems to be a potential solution.
机译：手术的演变导致了在其应用领域，大小以及自主程度之间变化的过多系统。特别是将所谓协同机器人系统和主奴隶 - 立法器的原理相结合的系统是有趣的关于外科医生和机器人系统的合作方面。虽然前者提供触觉引导信息（“虚拟灯具”），但后者提供从从设备的位置或力传感器信息提供触觉反馈。在设计期间，在向触觉信息信道的信息分配期间，必须在向触觉信息通道分配时必须支付特别的注意，因为跳过触觉引导信息和触觉传感器反馈可以导致隐藏基本反馈信息。本文报告了不同触觉引导模式的实验可用性评估，其自主程度不同，以及关于三个手术场景的自由度（DOF），即达到预定义位置和方向，跟踪预定义的3D轨迹，以及施加限定的力（例如在例如3D骨铣削任务期间）。目标是评估一些触觉指导信息的DOF是否可以自由留给力传感器信息反馈。一般调查结果表明，触觉指导不必在三个DOF上增强以提高可用性。因此，在各个DOF之间划分的触觉传感器信息反馈和触觉引导信息的组合似乎是潜在的解决方案。

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