User Behavior Evaluation in Robot-Assisted Retinal Surgery

Changyan He, Ali Ebrahimi, Marina Roizenblatt, Niravkumar Patel, Yang Yang, Peter Gehlbach, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Retinal microsurgery is technically demanding and requires high surgical skill with very little room for manipulation error. The introduction of robotic assistance has the potential to enhance and expand a surgeon's manipulation capabilities during retinal surgery, i.e., improve precision, cancel physiological hand tremor, and provide sensing information. However, surgeon performance may also be negatively impacted by robotic assistance due to robot structural stiffness and nonintuitive controls. In complying with robotic constraints, the surgeon loses the dexterity of the human hand. In this paper, we present a preliminary experimental study to evaluate user behavior when affected by robotic assistance during mock retinal surgery. In these experiments user behavior is characterized by measuring the forces applied by the user to the sclera, the tool insertion/retraction speed, the tool insertion depth relative to the scleral entry point, and the duration of surgery. The users' behavior data is collected during three mock retinal surgery tasks with four users. Each task is conducted using both freehand and robot-assisted techniques. The univariate user behavior and the correlations of multiple parameters of user behavior are analyzed. The results show that robot assistance prolongs the duration of the surgery and increases the manipulation forces applied to sclera, but refines the insertion velocity and eliminates hand tremor.

Original languageEnglish (US)
Title of host publicationRO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages174-179
Number of pages6
ISBN (Electronic)9781538679807
DOIs
StatePublished - Nov 6 2018
Event27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018 - Nanjing, China
Duration: Aug 27 2018Aug 31 2018

Other

Other27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
CountryChina
CityNanjing
Period8/27/188/31/18

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Cognitive Neuroscience
  • Communication
  • Artificial Intelligence

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  • Cite this

    He, C., Ebrahimi, A., Roizenblatt, M., Patel, N., Yang, Y., Gehlbach, P., & Iordachita, I. (2018). User Behavior Evaluation in Robot-Assisted Retinal Surgery. In RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication (pp. 174-179). [8525638] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2018.8525638