Electrical and Computer Engineering Department, University of British Columbia, 2332 Main Mall, Vancouver, BC, V6T 1Z4, Canada.
Int J Comput Assist Radiol Surg. 2019 Jul;14(7):1197-1206. doi: 10.1007/s11548-019-01955-9. Epub 2019 May 6.
The current state-of-the-art surgical robotic systems use only a single endoscope to view the surgical field. Research has been conducted to introduce additional cameras to the surgical system, giving rise to new camera angles that cannot be achieved using the endoscope alone. While this additional visualization certainly aids in surgical performance, current systems lack visual-motor compatibility with respect to the additional camera views. We propose a new system that overcomes this limitation.
In this paper, we introduce a novel design of an additional "pickup" camera that can be integrated into the da Vinci Surgical System. We also introduce a solution to work comfortably in the various arbitrary views this camera provides by eliminating visual-motor misalignment. This is done by changing the working frame of the surgical instruments to work with respect to the coordinate system at the "pickup" camera instead of the endoscope.
Human user trials ([Formula: see text]) were conducted to evaluate the effect of visual-motor alignment with respect to the "pickup" camera on surgical performance. An inanimate surgical peg transfer task from the validated Fundamentals of Laparoscopic Surgery (FLS) Training Curriculum was used, and an improvement of 73% in task completion time and 80% in accuracy was observed with the visual-motor alignment over the case without it.
Our study shows that there is a requirement to achieve visual-motor alignment when utilizing views from external cameras in current clinical surgical robotics setups. We introduce a complete system that provides additional camera views with visual-motor aligned control. Such a system would be useful in existing surgical procedures and could also impact surgical planning and navigation.
目前最先进的手术机器人系统仅使用单个内窥镜来观察手术区域。已经进行了研究，将额外的摄像机引入手术系统中，从而产生了仅使用内窥镜无法实现的新视角。虽然这种额外的可视化肯定有助于手术表现，但当前系统在附加摄像机视图方面缺乏视觉运动兼容性。我们提出了一种新的系统来克服这个限制。
在本文中，我们介绍了一种新的附加“采集”摄像机的设计，可以集成到达芬奇手术系统中。我们还引入了一种解决方案，可以通过消除视觉运动不匹配来舒适地在该摄像机提供的各种任意视图中工作。这是通过将手术器械的工作框架更改为相对于“采集”摄像机而不是内窥镜的坐标系来完成的。
进行了人体用户试验([Formula: see text])，以评估相对于“采集”摄像机的视觉运动对准对手术性能的影响。使用了经过验证的腹腔镜手术基础 (FLS) 培训课程中的无生命手术销转移任务，并且在没有视觉运动对准的情况下，任务完成时间提高了 73%，准确性提高了 80%。
我们的研究表明，在当前临床手术机器人设置中使用外部摄像机视图时，需要实现视觉运动对准。我们引入了一个完整的系统，该系统提供了具有视觉运动对准控制的附加摄像机视图。这样的系统将在现有手术程序中很有用，也可能影响手术计划和导航。
