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Area of Science:

Medical Robotics
Surgical Simulation
Human-Computer Interaction

Background:

Fluoroscopy in endovascular intervention poses radiation risks and lacks depth perception.
Teleoperation and 3D visualization offer potential solutions to fluoroscopy limitations.
Evaluating user performance in robotic catheter control is crucial for clinical adoption.

Purpose of the Study:

To compare user performance across three interactive modes for robotic catheter guidance.
To determine the most effective interaction mode for teleoperated endovascular procedures.
To assess the impact of 3D visualization (HoloLens) and control devices (gamepad, HoloLens) on user performance.

Main Methods:

An in-vitro study comparing three control modes: gamepad/2D monitor (GM), gamepad/HoloLens (GH), and HoloLens/HoloLens (HH).
User performance evaluated using subjective metrics and objective measures including tracking error, targeting error, duration, and jerk.
An additional study investigated joystick control using the Haption Virtuose robot.

Main Results:

Mode GH demonstrated superior performance in most objective and subjective metrics compared to GM and HH.
Mode GH showed significant improvements in tracking error, targeting error, duration, and jerk.
Joystick control potentially offers smoother trajectories and reduced path length compared to a gamepad.

Conclusions:

HoloLens enhances 3D visualization for catheterization, improving user performance.
Gamepad control offers user-friendliness and passive haptic feedback for catheter teleoperation.
Further research into joystick control may yield benefits for robotic catheter navigation.