{"title":"使用 Saroa 手术系统评估机器人手术中接触力反馈的益处:临床前研究","authors":"Yoshihiro Sakai, Masanori Tokunaga, Yoshimi Yamasaki, Hiroki Kayasuga, Teruyuki Nishihara, Kotaro Tadano, Kenji Kawashima, Shigeo Haruki, Yusuke Kinugasa","doi":"10.1111/ases.13395","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Introduction</h3>\n \n <p>Robotic surgery without contact-force feedback could be less safe, as forces exerted by the robot system may exceed tissue tolerance. This study aimed to evaluate the benefit of contact-force feedback.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>Nine junior and 11 senior surgeons performed two tasks using Saroa, a robotic surgical system with a force feedback function. In Task A, the participants estimated the order of stiffness of substances when feedback was on and off. In Task B, the effect of feedback on compression with a designated force (3 N) was assessed.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>In Task A, the proportion of participants who correctly estimated the order of stiffness of the substances was similar when feedback was on and off. However, the median maximum force applied to the substances was significantly smaller when feedback was on than when it was off (5.0 vs. 6.9 N, <i>p</i> = .011), which was more obvious among the junior surgeons (5.0 vs. 7.7 N, <i>p</i> = .015) than among the senior surgeons (4.7 vs. 5.9 N, <i>p</i> = .288). In Task B, deviations from the designated force (3 N) for three substances were smaller when feedback was on (0, −0.1, and 0.7, respectively) than when it was off (−0.3, −0.5, and 1.3, respectively). Regarding the dispersion of the force to the substances, the interquartile range tended to be smaller with feedback; this trend was more obvious in the junior surgeons.</p>\n </section>\n \n <section>\n \n <h3> Conclusion</h3>\n \n <p>With contact-force feedback, tissue stiffness could be estimated with a small force, particularly by the junior surgeons; specified force could be accurately applied to the tissue.</p>\n </section>\n </div>","PeriodicalId":47019,"journal":{"name":"Asian Journal of Endoscopic Surgery","volume":"17 4","pages":""},"PeriodicalIF":0.9000,"publicationDate":"2024-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Evaluating the benefit of contact-force feedback in robotic surgery using the Saroa surgical system: A preclinical study\",\"authors\":\"Yoshihiro Sakai, Masanori Tokunaga, Yoshimi Yamasaki, Hiroki Kayasuga, Teruyuki Nishihara, Kotaro Tadano, Kenji Kawashima, Shigeo Haruki, Yusuke Kinugasa\",\"doi\":\"10.1111/ases.13395\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Introduction</h3>\\n \\n <p>Robotic surgery without contact-force feedback could be less safe, as forces exerted by the robot system may exceed tissue tolerance. This study aimed to evaluate the benefit of contact-force feedback.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>Nine junior and 11 senior surgeons performed two tasks using Saroa, a robotic surgical system with a force feedback function. In Task A, the participants estimated the order of stiffness of substances when feedback was on and off. In Task B, the effect of feedback on compression with a designated force (3 N) was assessed.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>In Task A, the proportion of participants who correctly estimated the order of stiffness of the substances was similar when feedback was on and off. However, the median maximum force applied to the substances was significantly smaller when feedback was on than when it was off (5.0 vs. 6.9 N, <i>p</i> = .011), which was more obvious among the junior surgeons (5.0 vs. 7.7 N, <i>p</i> = .015) than among the senior surgeons (4.7 vs. 5.9 N, <i>p</i> = .288). In Task B, deviations from the designated force (3 N) for three substances were smaller when feedback was on (0, −0.1, and 0.7, respectively) than when it was off (−0.3, −0.5, and 1.3, respectively). Regarding the dispersion of the force to the substances, the interquartile range tended to be smaller with feedback; this trend was more obvious in the junior surgeons.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusion</h3>\\n \\n <p>With contact-force feedback, tissue stiffness could be estimated with a small force, particularly by the junior surgeons; specified force could be accurately applied to the tissue.</p>\\n </section>\\n </div>\",\"PeriodicalId\":47019,\"journal\":{\"name\":\"Asian Journal of Endoscopic Surgery\",\"volume\":\"17 4\",\"pages\":\"\"},\"PeriodicalIF\":0.9000,\"publicationDate\":\"2024-10-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Asian Journal of Endoscopic Surgery\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1111/ases.13395\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ORTHOPEDICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Asian Journal of Endoscopic Surgery","FirstCategoryId":"1085","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1111/ases.13395","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ORTHOPEDICS","Score":null,"Total":0}
引用次数: 0
摘要
导言:没有接触力反馈的机器人手术安全性可能较低,因为机器人系统施加的力可能会超过组织的耐受力。本研究旨在评估接触力反馈的益处。 方法 9 名初级外科医生和 11 名高级外科医生使用具有力反馈功能的机器人手术系统 Saroa 完成了两项任务。在任务 A 中,参与者估算了反馈开启和关闭时物质硬度的顺序。在任务 B 中,评估了反馈对指定力(3 N)压缩的影响。 结果 在任务 A 中,当反馈开启和关闭时,正确估计物质硬度顺序的参与者比例相似。但是,当反馈开启时,施加在物质上的最大力的中位数明显小于反馈关闭时(5.0 N vs. 6.9 N,p = .011),这在初级外科医生中(5.0 N vs. 7.7 N,p = .015)比在高级外科医生中(4.7 N vs. 5.9 N,p = .288)更为明显。在任务 B 中,三种物质在开启反馈时(分别为 0、-0.1 和 0.7)与关闭反馈时(分别为 -0.3、-0.5 和 1.3)的指定力(3 N)偏差较小。关于力对物质的分散性,反馈时的四分位数间范围往往较小;这一趋势在初级外科医生中更为明显。 结论 通过接触力反馈,可以用很小的力来估计组织的硬度,尤其是初级外科医生;指定的力可以准确地施加到组织上。
Evaluating the benefit of contact-force feedback in robotic surgery using the Saroa surgical system: A preclinical study
Introduction
Robotic surgery without contact-force feedback could be less safe, as forces exerted by the robot system may exceed tissue tolerance. This study aimed to evaluate the benefit of contact-force feedback.
Methods
Nine junior and 11 senior surgeons performed two tasks using Saroa, a robotic surgical system with a force feedback function. In Task A, the participants estimated the order of stiffness of substances when feedback was on and off. In Task B, the effect of feedback on compression with a designated force (3 N) was assessed.
Results
In Task A, the proportion of participants who correctly estimated the order of stiffness of the substances was similar when feedback was on and off. However, the median maximum force applied to the substances was significantly smaller when feedback was on than when it was off (5.0 vs. 6.9 N, p = .011), which was more obvious among the junior surgeons (5.0 vs. 7.7 N, p = .015) than among the senior surgeons (4.7 vs. 5.9 N, p = .288). In Task B, deviations from the designated force (3 N) for three substances were smaller when feedback was on (0, −0.1, and 0.7, respectively) than when it was off (−0.3, −0.5, and 1.3, respectively). Regarding the dispersion of the force to the substances, the interquartile range tended to be smaller with feedback; this trend was more obvious in the junior surgeons.
Conclusion
With contact-force feedback, tissue stiffness could be estimated with a small force, particularly by the junior surgeons; specified force could be accurately applied to the tissue.