Does a robotic scrub nurse improve economy of movements?

Juan P. Wachs, Mithun Jacob, Yu Ting Li, George Akingba

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Objective: Robotic assistance during surgery has been shown to be a useful resource to both augment the surgical skills of the surgeon through tele-operation, and to assist the surgeon handling the surgical instruments to the surgeon, similar to a surgical tech. We evaluated the performance and effect of a gesture driven surgical robotic nurse in the context of economy of movements, during an abdominal incision and closure exercise with a simulator. Methods: A longitudinal midline incision (100 mm) was performed on the simulated abdominal wall to enter the peritoneal cavity without damaging the internal organs. The wound was then closed using a blunt needle ensuring that no tissue is caught up by the suture material. All the instruments required to complete this task were delivered by a robotic surgical manipulator directly to the surgeon. The instruments were requested through voice and gesture recognition. The robotic system used a low end range sensor camera to extract the hand poses and for recognizing the gestures. The instruments were delivered to the vicinity of the patient, at chest height and at a reachable distance to the surgeon. Task performance measures for each of three abdominal incision and closure exercises were measured and compared to a human scrub nurse instrument delivery action. Picking instrument position variance, completion time and trajectory of the hand were recorded for further analysis. Results: The variance of the position of the robotic tip when delivering the surgical instrument is compared to the same position when a human delivers the instrument. The variance was found to be 88.86% smaller compared to the human delivery group. The mean task completion time to complete the surgical exercise was 162.7± 10.1 secs for the human assistant and 191.6± 3.3 secs (P<.01) when using the robotic standard display group. Conclusion: Multimodal robotic scrub nurse assistant improves the surgical procedure by reducing the number of movements (lower variance in the picking position). The variance of the picking point is closely related to the concept of economy of movements in the operating room. Improving the effectiveness of the operating room can potentially enhance the safety of surgical interventions without affecting the performance time.

Original languageEnglish
Title of host publicationProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume8316
DOIs
StatePublished - 2012
EventMedical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, CA, United States
Duration: Feb 5 2012Feb 7 2012

Other

OtherMedical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CitySan Diego, CA
Period2/5/122/7/12

Fingerprint

brush (botany)
Robotics
economy
robotics
surgeons
Nurses
Gestures
physical exercise
surgical instruments
Operating rooms
Exercise
Operating Rooms
Surgical Instruments
closures
rooms
delivery
Hand
chest
Gesture recognition
Peritoneal Cavity

Keywords

  • computer vision
  • gesture recognition
  • Robotics

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Radiology Nuclear Medicine and imaging

Cite this

Wachs, J. P., Jacob, M., Li, Y. T., & Akingba, G. (2012). Does a robotic scrub nurse improve economy of movements? In Progress in Biomedical Optics and Imaging - Proceedings of SPIE (Vol. 8316). [83160E] https://doi.org/10.1117/12.911930

Does a robotic scrub nurse improve economy of movements? / Wachs, Juan P.; Jacob, Mithun; Li, Yu Ting; Akingba, George.

Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Vol. 8316 2012. 83160E.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wachs, JP, Jacob, M, Li, YT & Akingba, G 2012, Does a robotic scrub nurse improve economy of movements? in Progress in Biomedical Optics and Imaging - Proceedings of SPIE. vol. 8316, 83160E, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, CA, United States, 2/5/12. https://doi.org/10.1117/12.911930
Wachs JP, Jacob M, Li YT, Akingba G. Does a robotic scrub nurse improve economy of movements? In Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Vol. 8316. 2012. 83160E https://doi.org/10.1117/12.911930
Wachs, Juan P. ; Jacob, Mithun ; Li, Yu Ting ; Akingba, George. / Does a robotic scrub nurse improve economy of movements?. Progress in Biomedical Optics and Imaging - Proceedings of SPIE. Vol. 8316 2012.
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abstract = "Objective: Robotic assistance during surgery has been shown to be a useful resource to both augment the surgical skills of the surgeon through tele-operation, and to assist the surgeon handling the surgical instruments to the surgeon, similar to a surgical tech. We evaluated the performance and effect of a gesture driven surgical robotic nurse in the context of economy of movements, during an abdominal incision and closure exercise with a simulator. Methods: A longitudinal midline incision (100 mm) was performed on the simulated abdominal wall to enter the peritoneal cavity without damaging the internal organs. The wound was then closed using a blunt needle ensuring that no tissue is caught up by the suture material. All the instruments required to complete this task were delivered by a robotic surgical manipulator directly to the surgeon. The instruments were requested through voice and gesture recognition. The robotic system used a low end range sensor camera to extract the hand poses and for recognizing the gestures. The instruments were delivered to the vicinity of the patient, at chest height and at a reachable distance to the surgeon. Task performance measures for each of three abdominal incision and closure exercises were measured and compared to a human scrub nurse instrument delivery action. Picking instrument position variance, completion time and trajectory of the hand were recorded for further analysis. Results: The variance of the position of the robotic tip when delivering the surgical instrument is compared to the same position when a human delivers the instrument. The variance was found to be 88.86{\%} smaller compared to the human delivery group. The mean task completion time to complete the surgical exercise was 162.7± 10.1 secs for the human assistant and 191.6± 3.3 secs (P<.01) when using the robotic standard display group. Conclusion: Multimodal robotic scrub nurse assistant improves the surgical procedure by reducing the number of movements (lower variance in the picking position). The variance of the picking point is closely related to the concept of economy of movements in the operating room. Improving the effectiveness of the operating room can potentially enhance the safety of surgical interventions without affecting the performance time.",
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