Zhang Gesiren, Bartels Jan, Martin-Gomez Alejandro, Armand Mehran
Biomechanical- and Image-Guided Surgical Systems (BIGSS) Lab, Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
Comput Methods Biomech Biomed Eng Imaging Vis. 2023;11(4):1073-1080. doi: 10.1080/21681163.2022.2152372. Epub 2022 Dec 5.
The integration of navigation capabilities into the operating room has enabled surgeons take on more precise procedures guided by a pre-operative plan. Traditionally, navigation information based on this plan is presented using monitors in the surgical theater. But the monitors force the surgeon to frequently look away from the surgical area. Alternative technologies, such as augmented reality, have enabled surgeons to visualize navigation information . However, burdening the visual field with additional information can be distracting. In this work, we propose integrating haptic feedback into a surgical tool handle to enable surgical guidance capabilities. This property reduces the amount of visual information, freeing surgeons to maintain visual attention over the patient and the surgical site. To investigate the feasibility of this guidance paradigm we conducted a pilot study with six subjects. Participants traced paths, pinpointed locations and matched alignments with a mock surgical tool featuring a novel haptic handle. We collected quantitative data, tracking user's accuracy and time to completion as well as subjective cognitive load. Our results show that haptic feedback can guide participants using a tool to sub-millimeter and sub-degree accuracy with only little training. Participants were able to match a location with an average error of , desired pivot alignments with an average error of and desired rotations to .
将导航功能集成到手术室中,使外科医生能够在术前计划的指导下进行更精确的手术。传统上,基于该计划的导航信息是通过手术台上的监视器呈现的。但监视器迫使外科医生频繁地将视线从手术区域移开。诸如增强现实等替代技术,使外科医生能够可视化导航信息。然而,用额外的信息加重视野负担可能会分散注意力。在这项工作中,我们建议将触觉反馈集成到手术工具手柄中,以实现手术引导功能。这一特性减少了视觉信息量,使外科医生能够将视觉注意力集中在患者和手术部位上。为了研究这种引导模式的可行性,我们对六名受试者进行了一项初步研究。参与者使用具有新型触觉手柄的模拟手术工具追踪路径、确定位置并匹配对齐情况。我们收集了定量数据,跟踪用户的准确性、完成时间以及主观认知负荷。我们的结果表明,只需很少的训练,触觉反馈就能引导参与者使用工具达到亚毫米和亚度的精度。参与者能够匹配位置,平均误差为 ,匹配所需的枢轴对齐,平均误差为 ,并将所需旋转匹配到 。
Comput Methods Biomech Biomed Eng Imaging Vis. 2023
Int J Comput Assist Radiol Surg. 2020-1-30
J Oral Maxillofac Surg. 2021-9
J Craniomaxillofac Surg. 2014-12
Int J Comput Assist Radiol Surg. 2022-3
Int J Comput Assist Radiol Surg. 2021-3
ACM Trans Appl Percept. 2020-3
Int J Comput Assist Radiol Surg. 2020-5-20
Surg Innov. 2020-2
Int J Comput Assist Radiol Surg. 2017-2-23
Am J Rhinol Allergy. 2014
Surg Endosc. 2012-7-26
J Acoust Soc Am. 1988-11