Zheng Yi, Ershad Marzieh, Fey Ann Majewicz
Department of Mechanical Engineering, the University of Texas at Austin, 204 East Dean Keeton Street, Austin, TX 78712, USA.
Intuitive Surgical, Inc., 1020 Kifer Road Sunnyvale, CA 94086.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2022 Aug;2022. doi: 10.1109/biorob52689.2022.9925380. Epub 2022 Nov 3.
Surgical movements have an important stylistic quality that individuals without formal surgical training can use to identify expertise. In our prior work, we sought to characterize quantitative metrics associated with surgical style and developed a near-real-time detection framework for stylistic deficiencies using a commercial haptic device. In this paper, we implement bimanual stylistic detection on the da Vinci Research Kit (dVRK) and focus on one stylistic deficiency, "Anxious", which may describe movements under stressful conditions. Our goal is to potentially correct these "Anxious" movements by exploring the effects of three different types of haptic cues (time-variant spring, damper, and spring-damper feedback) on performance during a basic surgical training task using the da Vinci Research Kit (dVRK). Eight subjects were recruited to complete peg transfer tasks using a randomized order of haptic cues and with baseline trials between each task. Overall, all cues lead to a significant improvement over baseline economy of volume and time-variant spring haptic cues lead to significant improvements in reducing the classified "Anxious" movements and also corresponded with significantly lower path length and economy of volume for the non-dominant hand. This work is the first step in evaluating our stylistic detection model on a surgical robot and could lay the groundwork for future methods to actively and adaptively reduce the negative effect of stress in the operating room.
手术动作具有重要的风格特征，未经正规手术训练的人可以利用这些特征来识别专业水平。在我们之前的工作中，我们试图描述与手术风格相关的定量指标，并使用商业触觉设备开发了一个用于检测风格缺陷的近实时检测框架。在本文中，我们在达芬奇研究套件（dVRK）上实现了双手风格检测，并专注于一种风格缺陷——“焦虑型”，它可能描述了压力条件下的动作。我们的目标是通过探索三种不同类型的触觉提示（时变弹簧、阻尼器和弹簧-阻尼器反馈）对使用达芬奇研究套件（dVRK）进行的基本手术训练任务中的操作表现的影响，来潜在地纠正这些“焦虑型”动作。招募了八名受试者，让他们按照随机顺序使用触觉提示完成栓子转移任务，并且在每个任务之间进行基线试验。总体而言，所有提示都使与基线相比的体积经济性有显著改善，时变弹簧触觉提示在减少分类为“焦虑型”的动作方面有显著改善，并且对于非优势手，还对应着显著更低的路径长度和体积经济性。这项工作是在手术机器人上评估我们的风格检测模型的第一步，并且可能为未来在手术室中主动且自适应地减少压力负面影响的方法奠定基础。
