Zoller Esther I, von Ballmoos Sibylle, Gerig Nicolas, Cattin Philippe C, Rauter Georg
Bio-Inspired RObots for MEDicine-Laboratory, Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland.
Center for Medical Image Analysis and Navigation, Department of Biomedical Engineering, University of Basel, Allschwil, Switzerland.
Front Robot AI. 2024 Nov 22;11:1457926. doi: 10.3389/frobt.2024.1457926. eCollection 2024.
Ergonomic issues are widespread among surgeons performing teleoperated robotic surgery. As the ergonomics of a teleoperation system depends on the controller handle, it needs to be designed wisely. While the importance of the controller handle in robot-assisted telemanipulation has been highlighted previously, most existing work on the usability of a human-robot system for surgery was of qualitative nature or did not focus on surgery-specific tasks.
We investigated the influence of nine different grasp-type telemanipulator handles on the usability of a lambda.6 haptic input device for a virtual six degrees of freedom peg-in-hole task. User performance with different handles was assessed through four usability metrics: i) task completion time, ii) dimensionless jerk, iii) collision forces, and iv) perceived workload. We compared these usability results with those of a prior study examining only the functional rotational workspace of the same human-robot system.
The linear mixed-effect model (LMM) analysis showed that all four usability metrics were dependent on the telemanipulator handle. Moreover, the LMM analysis showed an additional contribution of the hole accessibility to the usability of the human-robot system.
In case contact forces between the follower end-effector and its surroundings are not critical, the -grasp handle showed the best results out of the nine tested handles. In case low contact forces are crucial, the -grasp handle was most suitable. It can thus be deduced that different grasp-type telemanipulator handles affect system usability for a surgery-related, teleoperated six degrees of freedom placement task. Also, maximizing the functional rotational workspace can positively affect system usability.
在进行远程操作机器人手术的外科医生中，人体工程学问题普遍存在。由于远程操作系统的人体工程学取决于控制器手柄，因此需要精心设计。虽然之前已经强调了控制器手柄在机器人辅助远程操作中的重要性，但大多数关于手术用人机系统可用性的现有工作都是定性的，或者没有专注于特定手术任务。
我们研究了九种不同抓握类型的远程操作器手柄对用于虚拟六自由度插销入孔任务的lambda.6触觉输入设备可用性的影响。通过四个可用性指标评估不同手柄的用户性能：i）任务完成时间，ii）无量纲急动度，iii）碰撞力，以及iv）感知工作量。我们将这些可用性结果与之前仅研究同一人机系统功能旋转工作空间的研究结果进行了比较。
线性混合效应模型（LMM）分析表明，所有四个可用性指标都取决于远程操作器手柄。此外，LMM分析表明孔的可达性对人机系统可用性有额外贡献。
在从动端执行器与其周围环境之间的接触力不太关键的情况下，在所测试的九个手柄中，-抓握手柄显示出最佳结果。在低接触力至关重要的情况下，-抓握手柄最为合适。因此可以推断，不同抓握类型的远程操作器手柄会影响与手术相关的远程操作六自由度放置任务的系统可用性。此外，最大化功能旋转工作空间可以对系统可用性产生积极影响。
