使用手术模型评估机器人辅助玻璃体视网膜手术中的（共享）自主性
Evaluation of (Shared) Autonomy in Robot-Assisted Vitreoretinal Surgery Using a Surgical Model.
作者信息
Marinho Murilo M, Koyama Yuki, Taniguchi Yuta, Yamanaka Toshiro, Arai Fumihito, Omata Seiji, Sugimoto Koichiro, Ueta Takashi, Totsuka Kiyohito, Shiraya Tomoyasu, Araki Fumiyuki, Takao Muneyuki, Mitsuishi Mamoru, Harada Kanako
机构信息
Department of Mechanical Engineering, The University of Tokyo, Bunkyo, Japan.
Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK.
出版信息
Int J Med Robot. 2025 Feb;21(1):e70040. doi: 10.1002/rcs.70040.
BACKGROUND
Robot-assisted vitreoretinal surgery makes it easier for the surgeons to perform precise and dexterous manipulations required in vitreoretinal procedures.
METHODS
We systematically evaluated manual surgery, conventional two-hand teleoperation, a novel one-hand teleoperation, and automation in a needle positioning task using a realistic surgical eye model, measuring the expert surgeon's performances and the novice's learning curves.
RESULTS
The proposed one-hand teleoperation improved the positioning accuracy of expert surgeons , enabled novices to achieve a consistent accuracy more quickly , decreased the novice's workload more quickly , and made it easier for novices to learn to conduct the task quickly . Moreover, our autonomous positioning achieved an equivalent accuracy to the surgeons.
CONCLUSIONS
The benefits and potential of task autonomy were shown. Further work is needed to evaluate the proposed methods in a more complex task.
背景
机器人辅助玻璃体视网膜手术使外科医生更容易进行玻璃体视网膜手术所需的精确且灵活的操作。
方法
我们使用逼真的手术眼模型，在一项针定位任务中系统地评估了手动手术、传统双手远程操作、一种新型单手远程操作和自动化，测量了专家外科医生的表现和新手的学习曲线。
结果
所提出的单手远程操作提高了专家外科医生的定位精度，使新手能够更快地达到一致的精度，更快地减轻新手的工作量，并使新手更容易快速学会执行任务。此外，我们的自主定位达到了与外科医生相当的精度。
结论
展示了任务自主性的益处和潜力。需要进一步开展工作，在更复杂的任务中评估所提出的方法。
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