Comparative evaluation of user interfaces for robot-assisted laser phonomicrosurgery

Abstract

This research investigates the impact of three different control devices and two visualization methods on the precision, safety and ergonomics of a new medical robotic system prototype for assistive laser phonomicrosurgery. This system allows the user to remotely control the surgical laser beam using either a flight simulator type joystick, a joypad, or a pen display system in order to improve the traditional surgical setup composed by a mechanical micromanipulator coupled with a surgical microscope. The experimental setup and protocol followed to obtain quantitative performance data from the control devices tested are fully described here. This includes sets of path following evaluation experiments conducted with ten subjects with different skills, for a total of 700 trials. The data analysis method and experimental results are also presented, demonstrating an average 45% error reduction when using the joypad and up to 60% error reduction when using the pen display system versus the standard phonomicrosurgery setup. These results demonstrate the new system can provide important improvements in terms of surgical precision, ergonomics and safety. In addition, the evaluation method presented here is shown to support an objective selection of control devices for this application.

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

“…In the context of endoscopic laser microsurgery, the specific goals of teleoperation systems include the development of hardware and software infrastructure for the remote operation of the surgical endoscope, and the implementation of appropriate user interfaces for intuitive and precise control of the system by the surgeon. Initial efforts in this direction focused on comparing different types of laser control interfaces in terms of usability, precision and ergonomics (Dagnino et al, 2011). Results from this study corroborated the selection of a stylus and tablet as the most intuitive and precise interface for the task.…”

“…Initial efforts in this direction focused on comparing different types of laser control interfaces in terms of usability, precision and ergonomics ( Dagnino et al, 2011 ). Results from this study corroborated the selection of a stylus and tablet as the most intuitive and precise interface for the task.…”

LaryngoTORS: A Novel Cable-Driven Parallel Robotic System for Transoral Laser Phonosurgery

“…To provide a working channel for the laser beam, a straight rigid suspension laryngoscope is used. This is uncomfortable for the surgeon during prolonged operations, the manipulability is poor and extensive training is required [6]. Furthermore, suspension laryngoscopy may put strain to the patient's cervical vertebrae and cause dental arch lesions and postoperative pain [7].…”