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A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training

Hagmann, Katharina and Hellings, Anja and Klodmann, Julian and Richter, Rebecca and Stulp, Freek and Leidner, Daniel (2021) A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training. Frontiers in Robotics and AI (8), pp. 305-319. Frontiers Media S.A. doi: 10.3389/frobt.2021.735566. ISSN 2296-9144.

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Official URL: https://www.frontiersin.org/article/10.3389/frobt.2021.735566


Minimally invasive robotic surgery copes with some disadvantages for the surgeon of minimally invasive surgery while preserving the advantages for the patient. Most commercially available robotic systems are telemanipulated with haptic input devices. The exploitation of the haptics channel, e.g., by means of Virtual Fixtures, would allow for an individualized enhancement of surgical performance with contextual assistance. However, it remains an open field of research as it is non-trivial to estimate the task context itself during a surgery. In contrast, surgical training allows to abstract away from a real operation and thus makes it possible to model the task accurately. The presented approach exploits this fact to parameterize Virtual Fixtures during surgical training, proposing a Shared Control Parametrization Engine that retrieves procedural context information from a Digital Twin. This approach accelerates a proficient use of the robotic system for novice surgeons by augmenting the surgeon’s performance through haptic assistance. With this our aim is to reduce the required skill level and cognitive load of a surgeon performing minimally invasive robotic surgery. A pilot study is performed on the DLR MiroSurge system to evaluate the presented approach. The participants are tasked with two benchmark scenarios of surgical training. The execution of the benchmark scenarios requires basic skills as pick, place and path following. The evaluation of the pilot study shows the promising trend that novel users profit from the haptic augmentation during training of certain tasks.

Item URL in elib:https://elib.dlr.de/145374/
Document Type:Article
Title:A Digital Twin Approach for Contextual Assistance for Surgeons During Surgical Robotics Training
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Hagmann, KatharinaUNSPECIFIEDhttps://orcid.org/0000-0002-4273-3259UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:21 September 2021
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Page Range:pp. 305-319
Publisher:Frontiers Media S.A
Keywords:minimally invasive robotic surgery, shared control, digital twin, virtual fixtures, surgical robotics training
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Medical Assistance Systems [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hagmann, Katharina
Deposited On:15 Nov 2021 08:54
Last Modified:15 Nov 2021 08:54

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