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Human Performance and Workload Evaluation of Input Modalities for Telesurgery

Weber, Bernhard and Hellings, Anja and Tobergte, Andreas and Lohmann, Martin (2013) Human Performance and Workload Evaluation of Input Modalities for Telesurgery. GfA Press. 59. Frühjahrskongress der Gesellschaft für Arbeitswissenschaft (GfA), 27.02.-01.03.2013, Krefeld. ISBN 3-978-3-936804-14-0

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Abstract

In the last decade, surgical robots have been used routinely to assist surgeons e.g. during minimally-invasive surgery. Surgical instruments (e.g. needle drivers, scissors) are not directly manipulated by the surgeon, but by robotic arms located at the operation table. The surgeon controls the robotic system from a separated console with input devices. In contrast to conventional laparoscopy, a high degree of dexterity can be achieved by using such telerobotic systems despite the physical constraints of minimally-invasive surgery (also labeled as “keyhole technology”). In the current study, we empirically evaluated three different input modalities for telesurgery in a simulation environment. A sample of 18 individuals performed a pursuit tracking task using a mechanically coupled 6 DoF input interface (sigma.7) with vs. without friction/ inertia compensation or a freely moveable, optically tracked input interface. Besides input modality, movement scaling (high vs. moderate vs. low movement scaling), and arm stabilization (with vs. without armrest) were varied systematically. Results revealed positive effects of reducing friction/ inertia on manipulative precision and subjective workload, with the best results for the optically tracked device with minimal inertia and no friction. Yet, moving the device freely without any movement stabilization proved to be physically more demanding compared to the mechanically coupled interfaces.

Item URL in elib:https://elib.dlr.de/84971/
Document Type:Conference or Workshop Item (Speech)
Title:Human Performance and Workload Evaluation of Input Modalities for Telesurgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Hellings, AnjaAnja.Hellings (at) dlr.deUNSPECIFIED
Tobergte, AndreasAndreas.Tobergte (at) dlr.deUNSPECIFIED
Lohmann, MartinMartin.Lohmann (at) dlr.deUNSPECIFIED
Date:March 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 409-412
Publisher:GfA Press
Series Name:Chancen durch Produkt- und Systemgestaltung - Zukunftsfähigkeit für Produktions- und Dienstleistungsunternehmen
ISBN:3-978-3-936804-14-0
Status:Published
Keywords:Telesurgery, Minimally-invasive Surgery, Input Devices, Friction/Inertia Compensation, Movement Scaling
Event Title:59. Frühjahrskongress der Gesellschaft für Arbeitswissenschaft (GfA)
Event Location:Krefeld
Event Type:national Conference
Event Dates:27.02.-01.03.2013
Organizer:Gesellschaft für Arbeitswissenschaft (GfA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Weber, Dr. Bernhard
Deposited On:09 Jan 2014 13:49
Last Modified:08 May 2014 23:19

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