title: Operability evaluation using an simulation system for gripping motion in robotic tele-surgery.
abstract: Tele-surgery enables medical care even in remote regions and has been accomplished in clinical cases by means of special communication lines. To make tele-surgery a more common method of medical care, the surgical environment must be made available using public lines of communication, such as the Internet. Moreover, a support system during operation is required as the use of surgical tools occurs in a delayed environment. In our research, we focus on the operability of certain tasks conducted by surgeons during a medical procedure, and aim to clarify the optimum environment for robotic tele-surgery using a simulation. In the present study, we conducted an experiment to evaluate this operability using a simulation system consisting of a virtual slave manipulator, network simulator and an organ deformation calculator. The operability of a task to grip soft tissue was evaluated using a subjective workload assessment tool, NASA Task Load Index (NASA-TLX). Results indicate that operability changed over a delay of 200 ms in the environment during the experiment. Future studies will focus on clarifying a comfortable tele-surgical environment using the present evaluation of operability. In addition, an intra-operative assistance system will be constructed using a simulation.
authors: Faculty of Science and Engineering, Waseda University, Tokyo, Japan. kawamura@aoni.waseda.jp
authors: Kazuya
authors: K
authors: Kawamura
authors: Yo
authors: Y
authors: Kobayashi
authors: Masakatsu G
authors: MG
authors: Fujie
mesh_terms: D003198:Computer Simulation; D005069:Evaluation Studies as Topic; D018737:Hand Strength / Q000502:physiology*; D009038:Motion; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D017216:Telemedicine / Q000379:methods*; D013997:Time Factors