舌电触觉刺激下的手术手势控制
Control of Surgical Gesture under Lingual Electro-Tactile Stimulation
摘要：
进行微创手术穿刺需要将针引导到颅内临床定义的目标。由于该技术不涉及切开身体，因此采用可视化系统为外科医生提供关于工具的颅内位置的间接视觉空间信息。可以认为，这样的系统降低了情况的人体工程学，因为它们在针的实际移动和关于该移动的显示信息之间产生去相关。本研究的目的是评估指导下的舌电触觉感觉替代设备-舌显示单元（TDU）-在计算机渲染的可视化系统下证明的性能。TDU装置提供关于针运动相对于预先规划的“最佳”轨迹的偏差的信息。实验结果表明：（1）由TDU提供的刺激足够有效，以准确地引导一个人的穿刺，以及（2）使用可视化系统的先前训练不会提高在随后的TDU引导下获得的性能。最后，在引导微创手术姿态的背景下，从TDU的效率和可用性方面讨论了结果。
英文摘要：
Performing minimal-invasive surgical punctures require guiding a needle toward an intracorporeal clinically-defined target. As this technique does not involve cutting the body open, a visualization system is employed to provide the surgeon with indirect visual spatial information about the intracorporeal positions of the tool. One may consider that such systems reduce the ergonomics of the situation as they generate a decorrelation between the actual movement of the needle and the displayed information about this movement. The present study aims at assessing the guidance of an intracorporeal puncture under a lingual electrotactile sensory substitution device - the Tongue Display Unit (TDU) - with respect to the performance evidenced under a computer-rendered visualization system. The TDU device provides information about the deviation of the needle movement with regard to a pre-planned "optimal" trajectory. Experimental results show that - (1) the stimulations furnished by the TDU are efficient enough to guide accurately one's puncture, - and (2) that previous training using the visualization system does not improve performances obtained under subsequent TDU guidance. Finally, results are discussed in terms of efficiency and usability of the TDU in the context of guiding minimally-invasive surgical gesture.
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