Experimental Assessment of Positioning Precision During Free-Hand and Robot-Assisted Tool Manipulation in Transoral Microsurgery Model

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Sukrit Prasarnkleo;Jeroen Meulemans;Mouloud Ourak;Leonardo S. Mattos;Vincent Vander Poorten;Emmanuel Vander Poorten
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Abstract

Transoral laser microsurgery (TLM) is a vocal cord cancer treatment where surgical tools reach the targeted region through the mouth. A robot-assisted system could aid in such operation yet there is limited understanding of the precision that is reachable at the level of the vocal folds. Therefore, this paper analyzed the baseline of human tool positioning capability during simulated TLM. In a simulated TLM environment, 31 participants navigated a probe to reach the target region of variable diameter ranging from 2.0 mm to 0.1 mm. The total execution time and the number of incorrect contacts were recorded. To assess the positioning potential under robotic assistance, 5 volunteers conducted the same tasks with the help of a co-manipulation robot. The minimum target diameter humans can precisely achieve at the vocal fold is 1.5 mm (time: mean ${=} \,\, 13$ .92 s, SD ${=} \,\, 12$ .30 s, incorrect contact: mean ${=} \,\, 2.71$ , SD ${=} \,\, 4.53$ ) while with the co-manipulation system, the precision can be improved to 0.2 mm (time: mean ${=} \,\, 21$ .20 s, SD ${=} \,\, 12$ .31 s, incorrect contact: mean ${=} \,\, 3.84$ , SD ${=} \,\, 2.95$ ). The experiments successfully established a baseline for free-hand precision reachable at the vocal fold and potential improvement through robot assistance.
经口显微手术模型中徒手和机器人辅助工具操作定位精度的实验评估
经口激光显微手术(TLM)是一种声带癌症治疗方法,手术工具通过口腔到达目标区域。机器人辅助系统可以帮助进行此类手术,但人们对声带水平上可达到的精确度了解有限。因此,本文分析了在模拟 TLM 过程中人类工具定位能力的基线。在模拟 TLM 环境中,31 名参与者操纵探针到达直径从 2.0 毫米到 0.1 毫米不等的目标区域。对总执行时间和错误接触次数进行了记录。为了评估机器人辅助下的定位潜力,5 名志愿者在协同操纵机器人的帮助下执行了相同的任务。人类在声带处能精确达到的最小目标直径为1.5毫米(时间:平均${=}.\.92 秒,SD ${=}\0.30 秒,不正确接触:平均值 ${=}\2. 71, SD ${=}\4.53$ ),而使用协同操纵系统,精度可以提高到 0.2 毫米(时间:平均 ${=}\.20 s, SD ${=}\12$ .31 秒,不正确接触:平均值 ${=}\3. 84, SD ${=}\,\, 2.95$ ).实验成功地建立了声带可达到的自由手精确度基线,以及通过机器人辅助进行改进的可能性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
6.80
自引率
0.00%
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