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Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1829. Epub 2017 May 4.

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

Author information

1
School of Mechanical Engineering, Tianjin University, China.
2
PLA Rocket Forces General Hospital, China.
3
King's College, London, UK.

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.

KEYWORDS:

hand-eye coordination; parametric model; robotic-assisted minimally invasive surgery (RMIS); task performance; workspace correspondence

PMID:
28471060
DOI:
10.1002/rcs.1829
[Indexed for MEDLINE]

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