Task Dynamics of Prior Training Influence Visual Force Estimation Ability During Teleoperation of a Minimally Invasive Surgical Robot.

摘要: The lack of haptic feedback in Robot-assisted Minimally Invasive Surgery (RMIS) is a potential barrier to safe tissue handling during surgery. Bayesian modeling theory suggests that surgeons with experience open or laparoscopic surgery can develop priors stiffness translate better force estimation abilities RMIS compared no experience. To test if prior leads improved ability teleoperation, 33 participants were assigned one three training conditions: manual manipulation, teleoperation feedback, without and learned tension silicone sample set values. They then asked perform the task, previously unencountered palpation different values under feedback. Compared groups, group had higher error task outside range forces they trained on, but showed speed-accuracy functions at low levels. This dynamics modality affect accessible formed same as task.