The effect of a robot-assisted surgical system on the kinematics of user movements

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

Original languageEnglish
Title of host publication2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages6257-6260
Number of pages4
DOIs
StatePublished - 31 Oct 2013
Externally publishedYes
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
Duration: 3 Jul 20137 Jul 2013

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Conference

Conference2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Country/TerritoryJapan
CityOsaka
Period3/07/137/07/13

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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