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Modeling and evaluation of hand–eye coordination of surgical robotic system on task performance
Author(s) -
Gao Yuanqian,
Wang Shuxin,
Li Jianmin,
Li Aimin,
Liu Hongbin,
Xing Yuan
Publication year - 2017
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1829
Subject(s) - eye–hand coordination , computer science , task (project management) , human–computer interaction , simulation , artificial intelligence , management , economics
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.