基于机器人末端执行器运动学分析的运动控制技能评估
Motion control skill assessment based on kinematic analysis of robotic end-effector movements.
作者信息
Liang Ke, Xing Yuan, Li Jianmin, Wang Shuxin, Li Aimin, Li Jinhua
机构信息
Department of Mechanical Engineering, Tianjin University, Tianjin, China.
School of Mechanical Engineering, Tianjin University, Tianjin, China.
出版信息
Int J Med Robot. 2018 Feb;14(1). doi: 10.1002/rcs.1845. Epub 2017 Jun 29.
BACKGROUND
The performance of robotic end-effector movements can reflect the user's operation skill difference in robot-assisted minimally invasive surgery. This study quantified the trade-off of speed-accuracy-stability by kinematic analysis of robotic end-effector movements to assess the motion control skill of users with different levels of experience.
METHODS
Using 'MicroHand S' system, 10 experts, 10 residents and 10 novices performed single-hand test and bimanual coordination test. Eight metrics based on the movements of robotic end-effectors were applied to evaluate the users' performance.
RESULTS
In the single-hand test, experts outperformed other groups except for movement speed; in the bimanual coordination test, experts also performed better except for movement time and movement speed. No statistically significant difference in performance was found between residents and novices.
CONCLUSIONS
The kinematic differences obtained from the movements of robotic end-effectors can be applied to assess the motion control skill of users with different skill levels.
背景
机器人末端执行器的运动表现能够反映用户在机器人辅助微创手术中的操作技能差异。本研究通过对机器人末端执行器运动进行运动学分析，量化速度 - 准确性 - 稳定性之间的权衡，以评估不同经验水平用户的运动控制技能。
方法
使用“MicroHand S”系统，10名专家、10名住院医师和10名新手进行单手测试和双手协调测试。基于机器人末端执行器的运动应用八个指标来评估用户的表现。
结果
在单手测试中，除运动速度外，专家的表现优于其他组；在双手协调测试中，除运动时间和运动速度外，专家的表现也更好。住院医师和新手之间在表现上未发现统计学上的显著差异。
结论
从机器人末端执行器运动中获得的运动学差异可用于评估不同技能水平用户的运动控制技能。
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