Department of Electrical and Computer Engineering, Wayne State University, Detroit, Michigan.
Int J Med Robot. 2020 Apr;16(2):e2036. doi: 10.1002/rcs.2036. Epub 2019 Dec 27.
Manual control of the camera arm in telerobotic surgical systems requires the surgeon to repeatedly interrupt the flow of the surgery. During surgery, there are instances when one or even both tools can drift out of the field of view. These issues may lead to increased workload and potential errors.
We performed a 20-participant subject study (including four surgeons) to compare different methods of camera control on a customized da Vinci Surgical System. We tested (a) an autonomous camera algorithm, (b) standard clutched control, and (c) an experienced camera operator using a joystick.
The automated algorithm surpassed the traditional method of clutched camera control in measures of userperceived workload, efficiency, and progress. Additionally, it was consistently able to generate more centered and appropriately zoomed viewpoints than the other methods while keeping both tools safely inside the camera's field of view.
Clinical systems of the future should consider automating the camera control aspects of robotic surgery.
远程机器人手术系统中的手动控制需要外科医生反复中断手术流程。在手术过程中，有时甚至可能出现一个或两个工具从视野中漂移的情况。这些问题可能会导致工作负荷增加和潜在的错误。
我们进行了一项由 20 名参与者（包括 4 名外科医生）组成的研究，以比较定制的达芬奇手术系统中不同的摄像头控制方法。我们测试了（a）自主摄像头算法，（b）标准离合器控制，以及（c）使用操纵杆的有经验的摄像头操作员。
在用户感知的工作负荷、效率和进度方面，自动化算法超过了传统的离合器摄像头控制方法。此外，它始终能够生成更居中且适当缩放的视角，同时保持两个工具都安全地在摄像头的视野内。
未来的临床系统应该考虑自动化机器人手术中的摄像头控制方面。
