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Operability evaluation using an simulation system for gripping motion in robotic tele-surgery.

Kazuya Kawamura¹, Yo Kobayashi, Masakatsu G Fujie

¹Faculty of Science and Engineering, Waseda University, Tokyo, Japan. kawamura@aoni.waseda.jp

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 8, 2009

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Robotic tele-surgery can be improved for remote care by optimizing network conditions. This study found that surgical task operability is significantly affected by network delays, particularly beyond 200 ms.

Area of Science:

Robotics
Medical Simulation
Network Engineering

Background:

Tele-surgery offers remote medical care solutions but requires reliable communication over public networks like the Internet.
Current tele-surgery systems often face challenges with operational delays, necessitating support systems for surgeons.
Optimizing the tele-surgery environment is crucial for its widespread adoption in clinical practice.

Purpose of the Study:

To investigate the impact of network delay on surgical task operability in robotic tele-surgery.
To identify the optimal environmental parameters for effective robotic tele-surgery using simulation.
To evaluate surgeon workload during simulated tele-surgical tasks.

Main Methods:

A simulation system was developed, comprising a virtual slave manipulator, a network simulator, and an organ deformation calculator.

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The operability of gripping soft tissue was assessed using the NASA Task Load Index (NASA-TLX) as a subjective workload measure.

Experiments were conducted to evaluate task performance under varying network delay conditions.

Main Results:

Surgical task operability was found to be significantly influenced by network delays.
A noticeable change in operability was observed when the network delay exceeded 200 ms.
The NASA-TLX scores indicated increased workload with increasing network latency.

Conclusions:

Network delay is a critical factor affecting the operability and efficiency of robotic tele-surgery.
A delay of approximately 200 ms appears to be a threshold beyond which performance degrades.
Further research is needed to establish comfortable tele-surgical environments and develop intra-operative assistance systems based on these findings.