基于情境感知的人机交互内窥镜导航,增强机器人手术的自主性

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Ziyang Chen;Ke Fan;Laura Cruciani;Matteo Fontana;Lorenzo Muraglia;Francesco Ceci;Laura Travaini;Giancarlo Ferrigno;Elena De Momi
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引用次数: 0

摘要

尽管达芬奇手术系统提高了机器人手术的操作灵活性并恢复了三维视野,但它要求外科医生异步控制手术器械和内窥镜,这阻碍了手术的顺利进行。外科医生在手术过程中需要频繁定位内窥镜以保持良好的视野,这可能会增加手术时间和工作量。本文提出了一种在情境感知辅助下的 "人在回路外"(HOOTL)内窥镜导航控制,以增强手术的自主性。为了找出手术阶段识别的最佳模型,我们使用 8 个最先进的网络进行了综合比较研究。研究人员邀请了十名受试者在达芬奇研究套件平台上参与了基于三种不同内窥镜导航管道的经典环形转移任务,包括标准内窥镜导航、手动踏板控制的半自主内窥镜导航和基于视觉的相位识别支持的HOOTL内窥镜导航。实验结果表明,与其他两种导航流水线相比,所提出的内窥镜导航方法省去了控制踏板的操作,大大缩短了执行时间。美国国家航空航天局任务负荷指数(NASA-TLX)问卷调查结果表明,所提出的内窥镜导航能减轻用户的体力和脑力负荷。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Toward Human-Out-of-the-Loop Endoscope Navigation Based on Context Awareness for Enhanced Autonomy in Robotic Surgery
Although the da Vinci surgical system enhances manipulation dexterity and restores 3D vision in robotic surgery, it requires surgeons to asynchronously control surgical instruments and the endoscope, which hinders a smooth operation. Surgeons frequently position the endoscope to maintain a good field of view during operation, potentially increasing surgical time and workload. In this paper, a Human-Out-Of-The-Loop (HOOTL) endoscope navigation control with the assistance of context awareness is proposed to enhance surgical autonomy. A comprehensive comparison study using 8 state-of-the-art networks was conducted to find out the best model for surgical phase recognition. Ten human subjects were invited to participate in a classic ring transferring task based on three different endoscope navigation pipelines on a da Vinci research kit platform, including standard endoscope navigation, semi-autonomous endoscope navigation with manual pedal control, and HOOTL endoscope navigation supported by vision-based phase recognition. The experimental results showed that the proposed endoscope navigation approach releases the operation need of controlling the pedals, and it significantly reduces the execution time compared to the other two navigation pipelines. The result of the NASA Task Load Index (NASA-TLX) questionnaire indicates that the proposed endoscope navigation can reduce the physical and mental load for the users.
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