術者意図に基づく動作スケーリングで遠隔手術を効率化・高精度化するSIMS
SIMS: Surgeon-Intention-driven Motion Scaling for Efficient and Precise Teleoperation
術者の手の動きの特徴から意図を推定し、動作スケーリング係数をリアルタイムに調整することで、遠隔手術の精度と効率を両立させるシステムを提案した。
著者: Jeonghyeon Yoon, Sanghyeok Park, Hyojae Park, Cholin Kim, Michael C. Yip, Minho Hwang
分類: cs.RO
原文アブストラクト
Telerobotic surgery often relies on a fixed motion scaling factor (MSF) to map the surgeon's hand motions to robotic instruments, but this introduces a trade-off between precision and efficiency: small MSF enables delicate manipulation but slows large movements, while large MSF accelerates transfer at the cost of accuracy. We propose a Surgeon-Intention driven Motion Scaling (SIMS) system, which dynamically adjusts MSF in real time based solely on kinematic cues. SIMS extracts linear speed, tool motion alignment, and dual-arm coordination features to classify motion intent via fuzzy C-means clustering and applies confidence-based updates independently for both arms. In a user study (n=10, three surgical training tasks) conducted on the da Vinci Research Kit, SIMS significantly reduced collisions (mean reduction of 83%), lowered mental and physical workload, and maintained task completion efficiency compared to fixed MSF. These findings demonstrate that SIMS is a practical and lightweight approach for safer, more efficient, and user-adaptive telesurgical control.
