A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training.

Autor:	Hagmann K; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany., Hellings-Kuß A; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany., Klodmann J; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany., Richter R; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany., Stulp F; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany., Leidner D; German Aerospace Center (DLR), Institute of Robotics and Mechatronics Center, Weßling, Germany.
Jazyk:	angličtina
Zdroj:	Frontiers in robotics and AI [Front Robot AI] 2021 Sep 21; Vol. 8, pp. 735566. Date of Electronic Publication: 2021 Sep 21 (Print Publication: 2021).
DOI:	10.3389/frobt.2021.735566
Abstrakt:	Minimally invasive robotic surgery copes with some disadvantages for the surgeon of minimally invasive surgery while preserving the advantages for the patient. Most commercially available robotic systems are telemanipulated with haptic input devices. The exploitation of the haptics channel, e.g., by means of Virtual Fixtures, would allow for an individualized enhancement of surgical performance with contextual assistance. However, it remains an open field of research as it is non-trivial to estimate the task context itself during a surgery. In contrast, surgical training allows to abstract away from a real operation and thus makes it possible to model the task accurately. The presented approach exploits this fact to parameterize Virtual Fixtures during surgical training, proposing a Shared Control Parametrization Engine that retrieves procedural context information from a Digital Twin. This approach accelerates a proficient use of the robotic system for novice surgeons by augmenting the surgeon's performance through haptic assistance. With this our aim is to reduce the required skill level and cognitive load of a surgeon performing minimally invasive robotic surgery. A pilot study is performed on the DLR MiroSurge system to evaluate the presented approach. The participants are tasked with two benchmark scenarios of surgical training. The execution of the benchmark scenarios requires basic skills as pick, place and path following. The evaluation of the pilot study shows the promising trend that novel users profit from the haptic augmentation during training of certain tasks. Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. (Copyright © 2021 Hagmann, Hellings-Kuß, Klodmann, Richter, Stulp and Leidner.)
Databáze:	MEDLINE
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