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Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS

机译：视线运动引导，触觉约束和机器人MIS的相关认知需求

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The success of MIS is coupled with an increasing demand on surgeons' manual dexterity and visuomotor coordination due to the complexity of instrument manipulations. The use of master-slave surgical robots has avoided many of the drawbacks of MIS, but at the same time, has increased the physical separation between the surgeon and the patient. Tissue deformation combined with restricted workspace and visibility of an already cluttered environment can raise critical issues related to surgical precision and safety. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robot-assisted MIS procedures. This paper introduces a novel gaze-contingent framework for real-time haptic feedback and virtual fixtures by transforming visual sensory information into physical constraints that can interact with the motor sensory channel. We demonstrate how motor tracking of deforming tissue can be made more effective and accurate through the concept of Gaze-Contingent Motor Channelling. The method is also extended to 3D by introducing the concept of Gaze-Contingent Haptic Constraints where eye gaze is used to dynamically prescribe and update safety boundaries during robot-assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robot assisted phantom procedures demonstrate the potential clinical value of the technique. In order to assess the associated cognitive demand of the proposed concepts, functional Near-Infrared Spectroscopy is used and preliminary results are discussed.
机译：MIS的成功，加上由于器械操作的复杂性，对外科医生的手动灵活性和视觉运动协调性的要求不断提高。使用主从式外科手术机器人避免了MIS的许多缺点，但同时增加了外科医生与患者之间的物理距离。组织变形加上有限的工作空间以及已经凌乱的环境的可见性会引发与手术精度和安全性相关的关键问题。重新连接基本的视觉运动感觉反馈对于机器人辅助MIS程序的安全实践非常重要。本文通过将视觉感官信息转换为可以与运动感官通道进行交互的物理约束，介绍了一种用于实时触觉反馈和虚拟设备的新颖的视线偶然框架。我们演示了如何通过凝视力电机通道概念使变形组织的电机跟踪更加有效和准确。该方法还通过引入“凝视-连续性触觉约束”的概念而扩展到了3D，在这种情况下，无需预先了解软组织形态，就可以在机器人辅助的MIS中使用视线来动态地规定和更新安全边界。在模拟和机器人辅助幻影程序上的初步验证结果证明了该技术的潜在临床价值。为了评估所提出概念的相关认知需求，使用了功能近红外光谱技术并讨论了初步结果。

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