基于用户模型的椎板切除手术机器人人因设计初步研究

Human factors design of a user model based surgical robot for laminectomy: a preliminary study

中文关键词:  用户模型  任务模型  作业空间  交互需求  椎板切除手术机器人  人因设计研究

英文关键词:User model  Task model  Work space  Interaction requirements  Surgical robot for laminectomy  Human factors design research

中文摘要:

  【摘要】 目的：系统化剖析椎板切除手术机器人辅助下手术医生任务需求与认知特征，推动用户中心设计理念在手术机器人研发中的实践，以发现椎板切除手术机器人的人因设计问题并进行改善。方法：在小组测试实验的基础上运用HTA任务层次分析理论构建椎板切除手术机器人的用户任务模型，按照构建的任务模型完成椎板切除手术机器人辅助手术的模拟实验，实验中通过惯性传感器采集用户在人机交互过程中的空间数据，结合Matlab可视化算法将传感器数据转化为医生在各操作阶段的作业包络模型，再基于多通道资源占用和交互需求问卷构建多通道视觉（V）、听觉（A）、认知（C）及动作（P）人机交互需求模型，开展通道资源占用平衡优化研究，为椎板切除手术机器人交互设计与优化提供支持。结果：建立了以任务模型、作业空间、交互需求为基础的椎板切除手术机器人用户模型。初步实验数据结果中，该椎板切除手术机器人用户作业空间明显大于用户在术区的基本作业空间，评估的5项主要操作任务中，VACP综合资源占用显示各任务在视觉（V）、听觉（A）、认知（C）及动作（P）通道均存在不同程度的差异。视觉通道资源占用在所有任务中均较高，其中滑点验证（V=18.0）和刀尖配准（V=17.4）对视觉信息处理依赖程度较大；听觉通道资源占用在滑点验证中亦较高（A=11.2），反映其需要更多的听觉反馈与判断；认知通道较高得分出现在滑点验证（C=14.8）和刀尖配准（C=12.9），显示这些任务需要较高水平的特征识别、判断及综合处理能力；动作通道在超声骨刀安装（P=8.8）、刀尖配准（P=8.8）中相对较高，说明其对精细手动操作的要求较多。即椎板切除手术机器人辅助下手术的手术准备任务呈现资源占用负载，需优化各个任务的资源分配占用。结论：提出了一种基于用户模型的椎板切除手术机器人交互优化框架。综合客观数据与主观反馈两个维度，明确了医生在不同手术任务阶段的作业空间特征与交互偏好，提升交互任务的整体协调性。

英文摘要:

  【Abstract】 Objectives: To systematically analyze the operative doctor′s task needs and cognitive characteristics under the assistance of surgical robot for laminectomy, and to promote the practice of user-centered design concepts in the research and development of surgical robots, so as to discover and improve the problem in human factors design of the surgical robot for laminectomy. Methods: Based on the group test experiment, the HTA task hierarchy analysis theory was used to construct the user task model of surgical robot for laminectomy, and the simulation experiment of surgery assisted with the laminectomy surgery robot was completed. During the experiment, the spatial data of users during human-computer interaction was collected through inertial sensors, and the sensor data was converted into the doctor′s operation envelope model in each operation stage by combining the Matlab visualization algorithm. Then, the multi-channel visual(V), auditory(A), cognitive(C) and action(P) human-computer interaction demand model was constructed based on the multi-channel resource occupation and interaction demand questionnaire, and the channel resource occupation balance optimization research was carried out to provide support for the interaction design and optimization of laminectomy surgery robot. Results: A user model of laminectomy surgery robot based on task model, work space and interactive requirements was established. In the preliminary experimental data results, the user′s working space of the laminectomy surgery robot was significantly larger than the basic working space of the user in the operating area. Among the five main operating tasks evaluated in this research, the comprehensive resource occupation of VACP showed that there were various degrees of differences in the visual(V), auditory(A), cognitive(C) and action(P) channels of each task. The visual channel resource occupied a high level in all tasks, among which the two tasks, slippoint verification(V=18.0) and tool tip registration(V=17.4), depended greatly on visual information processing; The auditory channel resource occupied a high level in slippoint verification(A=11.2), reflecting that it required more auditory feedback and judgment; The higher scores of cognitive channels appeared in slippoint verification(C=14.8) and tool tip registration(C=12.9), indicating that these tasks required a higher level of feature recognition, judgment and comprehensive processing capabilities; The action channel was relatively high in ultrasonic osteotome installation(P=8.8) and tool tip registration(P=8.8), indicating that it had more requirements for fine manual operations. That was, the surgical preparation task under the assistance of laminectomy surgery robot presented resource occupation load, and the resource allocation and occupation of each task needed to be optimized. Conclusions: A framework for interactive optimization of user model based laminectomy surgery robot is proposed. Combining the two dimensions of objective data and subjective feedback, it clarifies the doctor′s working space characteristics and interaction preferences in different surgical tasks stages, and improves the overall coordination of interactive tasks.