視覚的注意に基づく認知的人間-ロボット協調によるロボット支援整形外科手術における椎弓根スクリュー配置
Visual Attention Based Cognitive Human-Robot Collaboration for Pedicle Screw Placement in Robot-Assisted Orthopedic Surgery
術者の視覚的注意をモデル化し、AR・触覚インターフェースと共有制御を組み合わせることで、整形外科手術のドリル穿孔とスクリュー配置を安全かつ人間参加型で協調実行する枠組みを提案した。
著者: Chen Chen, Qikai Zou, Yuhang Song, Mingrui Yu, Senqiang Zhu, Shiji Song, Xiang Li
分類: cs.RO, cs.HC
原文アブストラクト
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety due to the intricate physical interactions between the surgical tool and bone but also poses significant risks when executed without adequate human oversight. As it involves continuous physical interaction, the robot should collaborate with the surgeon, understand the human intent, and always include the surgeon in the loop. To achieve this, this paper proposes a new cognitive human-robot collaboration framework, including the intuitive AR-haptic human-robot interface, the visual-attention-based surgeon model, and the shared interaction control scheme for the robot. User studies on a robotic platform for orthopedic surgery are presented to illustrate the performance of the proposed method. The results demonstrate that the proposed human-robot collaboration framework outperforms full robot and full human control in terms of safety and ergonomics.
