Abstract

Robot-assisted surgery platforms are utilized globally thanks to their stereoscopic vision systems and enhanced functional assistance. However, the necessity of ergonomic improvement for their use by surgeons has been increased. In surgical robots, issues with chronic fatigue exist owing to the fixed posture of the conventional stereo viewer (SV) vision system. A head-mounted display was adopted to alleviate the inconvenience, and a virtual vision platform (VVP) is proposed in this study. The VVP can provide various critical data, including medical images, vital signs, and patient records, in three-dimensional virtual reality space so that users can access medical information simultaneously. An availability of the VVP was investigated based on various user evaluations by surgeons and novices, who executed the given tasks and answered questionnaires. The performances of the SV and VVP were not significantly different; however, the craniovertebral angle of the VVP was 16.35° higher on average than that of the SV. Survey results regarding the VVP were positive; participants indicated that the optimal number of displays was six, preferring the 2 × 3 array. Reflecting the tendencies, the VVP can be a neoconceptual candidate to be customized for medical use, which opens a new prospect in a next-generation surgical robot.

Graphical Abstract

中文翻译：

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多模态虚拟视觉平台作为手术机器人的下一代视觉系统

摘要

机器人辅助手术平台凭借其立体视觉系统和增强的功能辅助而在全球范围内使用。然而，外科医生使用它们时进行人体工程学改进的必要性已经增加。在手术机器人中，由于传统立体观察器（SV）视觉系统的固定姿势，存在慢性疲劳的问题。采用头戴式显示器来缓解这种不便，本研究提出了虚拟视觉平台（VVP）。 VVP可以在三维虚拟现实空间中提供各种关键数据，包括医学图像、生命体征和患者记录，以便用户可以同时访问医疗信息。 VVP 的可用性是根据外科医生和新手执行给定任务并回答问卷的各种用户评估进行调查的。 SV和VVP的性能没有显着差异；然而，VVP 的颅椎角平均比 SV 高 16.35°。关于 VVP 的调查结果是积极的；参与者表示，最佳显示器数量是 6 个，更喜欢 2 × 3 阵列。 VVP 反映了这一趋势，可以成为为医疗用途定制的新概念候选者，这为下一代手术机器人开辟了新的前景。

图形概要