Evaluation of (Shared) Autonomy in Robot-Assisted Vitreoretinal Surgery Using a Surgical Model

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-01-09 DOI:10.1002/rcs.70040

Murilo M. Marinho, Yuki Koyama, Yuta Taniguchi, Toshiro Yamanaka, Fumihito Arai, Seiji Omata, Koichiro Sugimoto, Takashi Ueta, Kiyohito Totsuka, Tomoyasu Shiraya, Fumiyuki Araki, Muneyuki Takao, Mamoru Mitsuishi, Kanako Harada

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Abstract

Background

Robot-assisted vitreoretinal surgery makes it easier for the surgeons to perform precise and dexterous manipulations required in vitreoretinal procedures.

Methods

We systematically evaluated manual surgery, conventional two-hand teleoperation, a novel one-hand teleoperation, and automation in a needle positioning task using a realistic surgical eye model, measuring the expert surgeon's performances and the novice's learning curves.

Results

The proposed one-hand teleoperation improved the positioning accuracy of expert surgeons $(p < 0.05)$ , enabled novices to achieve a consistent accuracy more quickly $(p < 0.05)$ , decreased the novice's workload more quickly $(p < 0.05)$ , and made it easier for novices to learn to conduct the task quickly $(p < 0.05)$ . Moreover, our autonomous positioning achieved an equivalent accuracy to the surgeons.

Conclusions

The benefits and potential of task autonomy were shown. Further work is needed to evaluate the proposed methods in a more complex task.

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利用手术模型评估机器人辅助玻璃体视网膜手术（共享）自主性。

背景：机器人辅助玻璃体视网膜手术使外科医生更容易在玻璃体视网膜手术中进行精确和灵巧的操作。方法：系统评估手工手术、传统的双手远程手术、一种新型的单手远程手术和自动化的针定位任务，使用逼真的外科眼模型，测量专家外科医生的表现和新手的学习曲线。结果：所提出的单手遥操作提高了专家外科医生的定位精度（p< 0.05）$ (p< 0.05)$，使新手更快地达到一致性精度（p< 0.05）$，更快地减少了新手的工作量（p< 0.05）$ (p< 0.05)$，使新手更容易快速地学会执行任务（p< 0.05）$。此外，我们的自主定位达到了与外科医生相同的精度。结论：任务自主性的好处和潜力得到了体现。需要进一步的工作来评估在更复杂的任务中提出的方法。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.