发表机构
Stanford University; École Polytechnique Fédérale de Lausanne; Ben-Gurion University of the Negev（斯坦福大学; 洛桑联邦理工学院; 内盖夫本-古里安大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过对比专家与新手在外科遥操作任务中的上肢生物力学，发现专家在困难动作中手腕更稳定且完成速度更快，凸显了用户生物力学的重要性。
AI 中文摘要
与大多数高强度体力活动不同，外科机器人遥操作训练主要关注任务结果，而非手术过程中外科医生的身体姿态或生物力学。针对生物力学在外科专业技能中的作用这一问题，我们试图描述专家遥操作者与新手用户相比的关节运动特征。二十七名新手和九名专家在完成一项非医疗的圆柱-插桩转移任务时，其上肢生物力学通过运动追踪器进行记录。在更困难的动作中，专家比新手更稳定地控制手腕运动，同时保持肩部和肘部足够的活动范围，并且完成任务的速度显著快于新手。这一专业技能标志表明，在外科机器人遥操作过程中关注用户生物力学的重要性。
英文摘要
Unlike most intensely physical pursuits, surgical robotic teleoperation training focuses primarily on task outcomes rather than surgeon body posture or biomechanics during task completion. Toward the question of the role of biomechanics in surgical expertise, we sought to characterize the articular motion of expert teleoperators as compared to novice users. Twenty-seven novices and nine experts completed a non-medical cylinder-on-peg transfer task while their upper limb biomechanics were recorded via motion trackers. During more difficult motions, experts stabilized their wrist motion more than novices, while maintaining adequate range of motion in their shoulder and elbow and completing the task significantly faster than novices. This marker of expertise suggests the importance of attention to user biomechanics during teleoperation of surgical robots.
CommentsAccepted for presentation at International Conference on Intelligent Robots and Systems (IROS) 2026
