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首页> 外文期刊>The Canadian Journal of Neurological Sciences: le Journal Canadien des Sciences Neurologiques >P.118 Excalibur, a novel haptic hand-controller for robot-assisted microsurgery
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P.118 Excalibur, a novel haptic hand-controller for robot-assisted microsurgery

机译：P.118 Excalibur，一种用于机器人辅助显微外科的新型触觉手动控制器

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Background: For robot-assisted telesurgery, the workstation, in particular the haptic handcontroller itself a robot, is paramount to the performance of surgery. Based on the requirements for microsurgery, a novel haptic handcontroller Excalibur has been developed. Methods: Thirty-two surgeons performed a peg-in-hole task (simulating micromanipulation) with Excalibur and two commercially available handcontrollers (Sigma 7 and PHANToM Premium 3.0). A modified Kuka endeffector with bipolar forceps, and Leica microscope completed the remote robotic site. Comparisons were made based on training time, task completion time and number of errors. All participants completed a questionnaire. Results: Repeated measures ANOVA demonstrated significance for task completion time (p=0.004), training time (p=0.021) and number of errors (p=0.004). Surgeons were faster with Excalibur (72s) than with Sigma (96s,p=0.005) and PHANToM (96s,p=0.036). Training time was shorter with Excalibur than with PHANToM (210s vs 310s,p=0.013), and users made fewer errors (0.7 vs 2.1,p=0.008). Training time required for Sigma (285s) and the number of errors (1.3) were not significant. The surgeons found Excalibur smoother, more comfortable, less tiring and easier to maneuver, with more realistic force feedback and superior movement fidelity. Conclusions: Surgical performance was superior with Excalibur compared to the other handcontrollers. This may reflect the microsurgical requirements and unique design architecture of Excalibur.
机译：背景：对于机器人辅助遥控器，工作站，特别是触觉手机本身是机器人，对手术的表现至关重要。基于对显微外科的要求，开发了一种新颖的触觉手持式手机替代品。方法：三十二个外科医生用Excalibur和两个商业上可用的手持式手术（Sigma 7和Phantom Premium 3.0）进行了PEG孔任务（模拟微操纵）。具有双极钳和Leica显微镜的改进的Kuka Endeffector完成了远程机器人网站。比较是基于培训时间，任务完成时间和错误的比较。所有参与者完成了调查问卷。结果：反复测量ANOVA对任务完成时间的显着性（p = 0.004），训练时间（p = 0.021）和误差数（p = 0.004）。外科医生比Excaribur（72s）更快，而不是Sigma（96s，p = 0.005）和幻影（96s，p = 0.036）。培训时间与幻像比幻像短（210s与310s，p = 0.013），并且用户误差（0.7 Vs 2.1，p = 0.008）。 Sigma（285s）所需的培训时间和错误数（1.3）并不重要。外科医生发现Excalibur更平滑，更舒适，疲倦，更容易操纵，具有更现实的力量反馈和卓越的运动保真度。结论：与其他手机相比，外科性能优于Excalibur。这可能反映了基石的显微外科要求和独特的设计架构。

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