Wang Weidong, Song Huajian, Zhang Zelin, Du Zhijiang
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.
Int J Med Robot. 2019 Apr;15(2):e1974. doi: 10.1002/rcs.1974. Epub 2018 Dec 19.
Open surgical consoles widely employed in minimally invasive surgery have better ergonomics than closed consoles. To enhance surgical robots' ergonomics, operational efficiency, and safety, an effective master-slave motion alignment model should be established.
The kinematic model of the robot system based on laparoscopic camera coordinate system is built in the first place. Then, the relative pose between the operator's eyes and the display is measured by Tobii Eye Tracking Sensor and is subsequently used to improve the master-slave motion alignment model.
Robot threading experiments are conducted by two doctors and three testers to verify the kinematic model. As a result, in contrast to the original model, the improved model reduces both operation time and the number of collisions.
The improved master-slave motion alignment model, in which the transformation matrix between the operator's eyes and the display is employed, raises the ergonomics, operational efficiency, and safety.
广泛应用于微创手术的开放式手术控制台在人体工程学方面优于封闭式控制台。为提高手术机器人的人体工程学、操作效率和安全性，应建立有效的主从运动对齐模型。
首先建立基于腹腔镜摄像头坐标系的机器人系统运动学模型。然后，通过托比眼动追踪传感器测量操作者眼睛与显示器之间的相对姿态，并随后用于改进主从运动对齐模型。
由两名医生和三名测试人员进行机器人穿线实验以验证运动学模型。结果，与原始模型相比，改进后的模型减少了操作时间和碰撞次数。
采用操作者眼睛与显示器之间变换矩阵的改进主从运动对齐模型提高了人体工程学、操作效率和安全性。
