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Motion control skill assessment based on kinematic analysis of robotic end‐effector movements
Author(s) -
Liang Ke,
Xing Yuan,
Li Jianmin,
Wang Shuxin,
Li Aimin,
Li Jinhua
Publication year - 2018
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.1845
Subject(s) - kinematics , robot end effector , computer science , motion (physics) , movement (music) , test (biology) , simulation , physical medicine and rehabilitation , robot , significant difference , robotic surgery , artificial intelligence , medicine , mathematics , statistics , paleontology , philosophy , physics , classical mechanics , biology , aesthetics
Background The performance of robotic end‐effector movements can reflect the user's operation skill difference in robot‐assisted minimally invasive surgery. This study quantified the trade‐off of speed–accuracy–stability by kinematic analysis of robotic end‐effector movements to assess the motion control skill of users with different levels of experience. Methods Using ‘MicroHand S’ system, 10 experts, 10 residents and 10 novices performed single‐hand test and bimanual coordination test. Eight metrics based on the movements of robotic end‐effectors were applied to evaluate the users' performance. Results In the single‐hand test, experts outperformed other groups except for movement speed; in the bimanual coordination test, experts also performed better except for movement time and movement speed. No statistically significant difference in performance was found between residents and novices. Conclusions The kinematic differences obtained from the movements of robotic end‐effectors can be applied to assess the motion control skill of users with different skill levels.