Modeling and evaluation of hand-eye coordination of surgical robotic system on task performance

Yuanqian Gao, Shuxin Wang, Jianmin Li, Aimin Li, Hongbin Liu, Yuan Xing*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)

Abstract

Background: Robotic-assisted minimally invasive surgery changes the direct hand and eye coordination in traditional surgery to indirect instrument and camera coordination, which affects the ergonomics, operation performance, and safety. Methods: A camera, two instruments, and a target, as the descriptors, are used to construct the workspace correspondence and geometrical relationships in a surgical operation. A parametric model with a set of parameters is proposed to describe the hand-eye coordination of the surgical robot. Results: From the results, optimal values and acceptable ranges of these parameters are identified from two tasks. A 90° viewing angle had the longest completion time; 60° instrument elevation angle and 0° deflection angle had better performance; there is no significant difference among manipulation angles and observing distances on task performance. Conclusion: This hand-eye coordination model provides evidence for robotic design, surgeon training, and robotic initialization to achieve dexterous and safe manipulation in surgery.

Original languageEnglish
Article numbere1829
Number of pages9
JournalINTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
Volume13
Issue number4
Early online date4 May 2017
DOIs
Publication statusE-pub ahead of print - 4 May 2017

Keywords

  • Hand-eye coordination
  • Parametric model
  • Robotic-assisted minimally invasive surgery (RMIS)
  • Task performance
  • Workspace correspondence

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