Skip to main content
main-content

25.09.2018 | Original Article | Ausgabe 3/2019

Journal of Robotic Surgery 3/2019

Evaluation of a pneumatic surgical robot with dynamic force feedback

Zeitschrift:
Journal of Robotic Surgery > Ausgabe 3/2019
Autoren:
Dimitrios Karponis, Yokota Koya, Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima
Wichtige Hinweise

Electronic supplementary material

The online version of this article (https://​doi.​org/​10.​1007/​s11701-018-0878-2) contains supplementary material, which is available to authorized users.

Abstract

Robot-assisted surgery is limited by the lack of haptic feedback and increased operating times. Force scaling adjusts feedback transmitted to the operator through the use of scaling factors. Herein, we investigate how force scaling affects forces exerted in robotic surgery during simple and complex tasks, using a pneumatic surgical robot, IBIS VI. Secondary objectives were to test the effects of force scaling on operating time, depth of needle insertion and user satisfaction. Two novice males performed simple (modified block transfer) and complex (needle insertion) tasks under four scaling factors: 0.0, 0.5, 1.0 and 2.0. Single-blind experiments were repeated five times, with alternating scaling factors in random order. Increasing the scaling factor from 0.0 to 2.0 reduces forces in block transfer (p = 0.04). All feedback conditions reduce forces in needle insertion compared to baseline (0.5: p < 0.001, 1.0: p = 0.001, 2.0: p = 0.001). Time to complete block transfer is shorter for scaling factor 0.5 (p = 0.02), but not for 1.0 (p = 0.05) or 2.0 (p = 0.48), compared to baseline. Depth of needle insertion decreases consistently with incremental scaling factors (p < 0.001). Further reductions are observed upon augmenting feedback (0.5–2.0: p = 0.02). User satisfaction in block transfer is highest for intermediate scaling factors (0.0–1.0: p = 0.01), but no change is observed in needle insertion (p = 0.99). Increments in scaling factor reduce forces exerted, particularly in tasks requiring precision. Depth of needle insertion follows a similar pattern, but operating time and user satisfaction are improved by intermediate scaling factors. In summary, dynamic adjustment of force feedback can improve operative outcomes and advance surgical automation.

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

★ PREMIUM-INHALT
e.Med Interdisziplinär

Mit e.Med Interdisziplinär erhalten Sie Zugang zu allen CME-Fortbildungen und Fachzeitschriften auf SpringerMedizin.de.

Weitere Produktempfehlungen anzeigen
Zusatzmaterial
Nur für berechtigte Nutzer zugänglich
Literatur
Über diesen Artikel

Weitere Artikel der Ausgabe 3/2019

Journal of Robotic Surgery 3/2019 Zur Ausgabe
  1. Das kostenlose Testabonnement läuft nach 14 Tagen automatisch und formlos aus. Dieses Abonnement kann nur einmal getestet werden.

  2. Sie können e.Med Chirurgie 14 Tage kostenlos testen (keine Print-Zeitschrift enthalten). Der Test läuft automatisch und formlos aus. Es kann nur einmal getestet werden.

Neu im Fachgebiet Chirurgie

Mail Icon II Newsletter

Bestellen Sie unseren kostenlosen Newsletter Update Chirurgie und bleiben Sie gut informiert – ganz bequem per eMail.

Bildnachweise