Kinematic analysis of motor performance in robot-assisted surgery: A preliminary study

Ilana Nisky; Sangram Patil; Michael H. Hsieh; Allison M. Okamura

doi:10.3233/978-1-61499-209-7-302

Kinematic analysis of motor performance in robot-assisted surgery: A preliminary study

Ilana Nisky, Sangram Patil, Michael H. Hsieh, Allison M. Okamura

Research output: Contribution to journal › Article › peer-review

Abstract

The inherent dynamics of the master manipulator of a teleoperated robot-assisted surgery (RAS) system can affect the movements of a human operator, in comparison with free-space movements. To measure the effects of these dynamics on operators with differing levels of surgical expertise, a da Vinci Si system was instrumented with a custom surgeon grip fixture and magnetic pose trackers. We compared users' performance of canonical motor control movements during teleoperation with the manipulator and freehand cursor control, and found significant differences in several aspects of motion, including target acquisition error, movement speed, and acceleration. In addition, there was preliminary evidence for differences between experts and novices. These findings could impact robot design, control, and training methods for RAS.

Original language	American English
Pages (from-to)	302-308
Number of pages	7
Journal	Studies in Health Technology and Informatics
Volume	184
DOIs	https://doi.org/10.3233/978-1-61499-209-7-302
State	Published - 1 Jan 2013
Externally published	Yes

Keywords

Human Motor Control
Robot-Assisted Surgery
Teleoperation

All Science Journal Classification (ASJC) codes

Health Information Management
Health Informatics
Biomedical Engineering

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10.3233/978-1-61499-209-7-302

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abstract = "The inherent dynamics of the master manipulator of a teleoperated robot-assisted surgery (RAS) system can affect the movements of a human operator, in comparison with free-space movements. To measure the effects of these dynamics on operators with differing levels of surgical expertise, a da Vinci Si system was instrumented with a custom surgeon grip fixture and magnetic pose trackers. We compared users' performance of canonical motor control movements during teleoperation with the manipulator and freehand cursor control, and found significant differences in several aspects of motion, including target acquisition error, movement speed, and acceleration. In addition, there was preliminary evidence for differences between experts and novices. These findings could impact robot design, control, and training methods for RAS.",

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N2 - The inherent dynamics of the master manipulator of a teleoperated robot-assisted surgery (RAS) system can affect the movements of a human operator, in comparison with free-space movements. To measure the effects of these dynamics on operators with differing levels of surgical expertise, a da Vinci Si system was instrumented with a custom surgeon grip fixture and magnetic pose trackers. We compared users' performance of canonical motor control movements during teleoperation with the manipulator and freehand cursor control, and found significant differences in several aspects of motion, including target acquisition error, movement speed, and acceleration. In addition, there was preliminary evidence for differences between experts and novices. These findings could impact robot design, control, and training methods for RAS.

AB - The inherent dynamics of the master manipulator of a teleoperated robot-assisted surgery (RAS) system can affect the movements of a human operator, in comparison with free-space movements. To measure the effects of these dynamics on operators with differing levels of surgical expertise, a da Vinci Si system was instrumented with a custom surgeon grip fixture and magnetic pose trackers. We compared users' performance of canonical motor control movements during teleoperation with the manipulator and freehand cursor control, and found significant differences in several aspects of motion, including target acquisition error, movement speed, and acceleration. In addition, there was preliminary evidence for differences between experts and novices. These findings could impact robot design, control, and training methods for RAS.

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Kinematic analysis of motor performance in robot-assisted surgery: A preliminary study

Abstract

Keywords

All Science Journal Classification (ASJC) codes

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