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

English Keywords:User model  Task model  Work space  Interaction requirements  Surgical robot for laminectomy  Human factors design research

English Abstract:

  【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.