Development and evaluation of an autonomous camera control algorithm on the da Vinci Surgical System

Background Manual control of the camera arm in telerobotic surgical systems requires the surgeon to repeatedly interrupt the flow of the surgery. During surgery, there are instances when one or even both tools can drift out of the field of view. These issues may lead to increased workload and potent...

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Vydáno v:The international journal of medical robotics + computer assisted surgery Ročník 16; číslo 2; s. e2036 - n/a
Hlavní autoři: Eslamian, Shahab, Reisner, Luke A., Pandya, Abhilash K.
Médium: Journal Article
Jazyk:angličtina
Vydáno: England Wiley Subscription Services, Inc 01.04.2020
Témata:
Algorithms
Automation
Calibration
Cameramen
Cameras
computer‐assisted surgery
Control algorithms
Control methods
Control theory
Equipment Design
Field of view
Humans
Laparoscopy - methods
Machine Learning
Manual control
minimal invasive surgery
Robot control
Robotic surgery
Robotic Surgical Procedures - methods
Software
Surgeons
Surgery
Surgery, Computer-Assisted - methods
Telerobotics
telesurgery
Workload
Workloads
computer-assisted surgery
telesurgery
minimal invasive surgery
ISSN:1478-5951, 1478-596X, 1478-596X
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Shrnutí:Background Manual control of the camera arm in telerobotic surgical systems requires the surgeon to repeatedly interrupt the flow of the surgery. During surgery, there are instances when one or even both tools can drift out of the field of view. These issues may lead to increased workload and potential errors. Methods We performed a 20‐participant subject study (including four surgeons) to compare different methods of camera control on a customized da Vinci Surgical System. We tested (a) an autonomous camera algorithm, (b) standard clutched control, and (c) an experienced camera operator using a joystick. Results The automated algorithm surpassed the traditional method of clutched camera control in measures of userperceived workload, efficiency, and progress. Additionally, it was consistently able to generate more centered and appropriately zoomed viewpoints than the other methods while keeping both tools safely inside the camera's field of view. Conclusions Clinical systems of the future should consider automating the camera control aspects of robotic surgery.
Bibliografie:Funding information
Children's Hospital of Michigan Foundation; US Department of Veterans Affairs National Center for Patient Safety, Grant/Award Number: VA701‐15‐Q‐O179/2VHF; Children's Hospital of Michigan; Wayne State University's M‐TRAC program
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ISSN:1478-5951
1478-596X
1478-596X
DOI:10.1002/rcs.2036