Enabling personalization of a robotic surgery procedure via a surgery training simulator

Dede M. I. C., Buyukoztekin T., HANALİOĞLU Ş., Isikay I., BERKER M.

ROBOTICA, cilt.41, ss.869-884, 2023 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 41
  • Basım Tarihi: 2023
  • Doi Numarası: 10.1017/s0263574722001023
  • Dergi Adı: ROBOTICA
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, DIALNET, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.869-884
  • Anahtar Kelimeler: robotic surgery simulator, surgical robotics, endoscopic skull bas surgery, endoscope holding robot, teleoperation, DESIGN
  • Hacettepe Üniversitesi Adresli: Evet

Özet

Although robotic or robot-assisted surgery has been increasingly used by many surgical disciplines, its application in cranial or skull base surgery is still in its infancy. Master-slave teleoperation setting of these robotic systems enables these surgical procedures to be replicated in a virtual reality environment for surgeon training purposes. A variety of teleoperation modes were previously determined with respect to the motion capability of the surgeon's hand that wears the ring as the surgeon handles a surgical tool inside the surgical workspace. In this surgery training simulator developed for a robot-assisted endoscopic skull base surgery, a new strategy is developed to identify the preferred motion axes of the surgeon. This simulator is designed specifically for tuning the teleoperation system for each surgeon via the identification. This tuning capability brings flexibility to adjust the system operation with respect to the motion characteristics of the surgeon.