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Intuitive user interfaces increase efficiency in endoscope tip control

机译：直观的用户界面可提高内窥镜尖端控制的效率

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Background: Flexible endoscopes are increasingly used to perform advanced intraluminal and transluminal interventions. These complex interventions demand accurate and efficient control, however, current endoscopes lack intuitiveness and ergonomic control of the endoscope tip. Alternative handheld controllers can improve intuitiveness and ergonomics, though previous studies are inconclusive concerning their effect on the efficiency of endoscope manipulation. The aim of this study is to determine the efficiency of a robotic system with intuitive user interface in controlling the tip of the flexible endoscope. Methods: We compared the efficiency of time and tip trajectory when steering the endoscope tip using the conventional steering wheels and a robotic platform with three different user interfaces: a touchpad in combination with a position control algorithm, a joystick combined with linear rate control, and a joystick combined with non-linear rate control. Fourteen participants, without a medical background, used all four interfaces. They performed both large navigational and fine targeting tasks in a simulated environment which allowed objective cross-subject comparison. Afterward, the participants were asked to select their preferred steering method. Results: Participants were significantly faster in steering the endoscope tip when using robotic steering compared to using the conventional steering method. Between the robotic interfaces, using the touchpad was significantly faster compared to the joystick with linear rate control. Use of the joystick with non-linear rate control led to a shorter tip trajectory compared to the touchpad. The majority of participants preferred the joystick with non-linear rate control over the other steering methods. Conclusions: This work shows that intuitive user interfaces can improve the efficiency of endoscope tip steering.
机译：背景技术：柔性内窥镜越来越多地用于执行先进的腔内和腔内干预。这些复杂的干预措施要求精确而有效的控制，但是，当前的内窥镜缺乏直观性和内窥镜尖端的人体工程学控制。可选的手持式控制器可以改善直观性和人体工程学，尽管先前的研究尚不确定其对内窥镜操作效率的影响。这项研究的目的是确定具有直观用户界面的机器人系统在控制柔性内窥镜尖端方面的效率。方法：我们比较了使用传统方向盘和具有三种不同用户界面的机器人平台操纵内窥镜尖端时的时间和尖端轨迹的效率：触摸板结合了位置控制算法，操纵杆结合了线性速率控制，以及结合了非线性速率控制的操纵杆。没有医学背景的十四位参与者使用了所有四个界面。他们在模拟环境中执行了大型导航任务和精细定位任务，从而可以进行客观的跨学科比较。之后，要求参与者选择他们喜欢的指导方法。结果：与使用传统转向方法相比，使用机器人转向时，参与者对内窥镜尖端的转向明显更快。在机器人界面之间，与具有线性速率控制的操纵杆相比，使用触摸板的速度明显更快。与触摸板相比，将操纵杆与非线性速率控制配合使用可导致笔尖轨迹更短。与其他转向方法相比，大多数参与者更喜欢带有非线性速率控制的操纵杆。结论：这项工作表明，直观的用户界面可以提高内窥镜尖端操纵的效率。

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