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 language | English |
|---|---|
| Article number | e1829 |
| Number of pages | 9 |
| Journal | INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY |
| Volume | 13 |
| Issue number | 4 |
| Early online date | 4 May 2017 |
| DOIs | |
| Publication status | E-pub ahead of print - 4 May 2017 |
Keywords
- Hand-eye coordination
- Parametric model
- Robotic-assisted minimally invasive surgery (RMIS)
- Task performance
- Workspace correspondence