Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control the surgical instruments and the endoscope. This work aims at providing autonomous navigation of the endoscope during a surgical procedure. The autonomous endoscope motion was base...

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Autores principales:	Tommaso Da Col, Guido Caccianiga, Michele Catellani, Andrea Mariani, Matteo Ferro, Giovanni Cordima, Elena De Momi, Giancarlo Ferrigno, Ottavio de Cobelli
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	robotic surgery da Vinci surgery surgery automation endoscope automation oncology urology Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/d3674111464147a6aea9e5a4b8151474
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spelling	oai:doaj.org-article:d3674111464147a6aea9e5a4b81514742021-12-01T02:18:57ZAutomating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction2296-914410.3389/frobt.2021.707704https://doaj.org/article/d3674111464147a6aea9e5a4b81514742021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.707704/fullhttps://doaj.org/toc/2296-9144Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control the surgical instruments and the endoscope. This work aims at providing autonomous navigation of the endoscope during a surgical procedure. The autonomous endoscope motion was based on kinematic tracking of the surgical instruments and integrated with the da Vinci Research Kit. A preclinical usability study was conducted by 10 urologists. They carried out an ex vivo orthotopic neobladder reconstruction twice, using both traditional and autonomous endoscope control. The usability of the system was tested by asking participants to fill standard system usability scales. Moreover, the effectiveness of the method was assessed by analyzing the total procedure time and the time spent with the instruments out of the field of view. The average system usability score overcame the threshold usually identified as the limit to assess good usability (average score = 73.25 > 68). The average total procedure time with the autonomous endoscope navigation was comparable with the classic control (p = 0.85 > 0.05), yet it significantly reduced the time out of the field of view (p = 0.022 < 0.05). Based on our findings, the autonomous endoscope improves the usability of the surgical system, and it has the potential to be an additional and customizable tool for the surgeon that can always take control of the endoscope or leave it to move autonomously.Tommaso Da ColGuido CaccianigaMichele CatellaniAndrea MarianiMatteo FerroGiovanni CordimaElena De MomiGiancarlo FerrignoOttavio de CobelliFrontiers Media S.A.articlerobotic surgeryda Vinci surgerysurgery automationendoscope automationoncologyurologyMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotic surgery da Vinci surgery surgery automation endoscope automation oncology urology Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	robotic surgery da Vinci surgery surgery automation endoscope automation oncology urology Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Tommaso Da Col Guido Caccianiga Michele Catellani Andrea Mariani Matteo Ferro Giovanni Cordima Elena De Momi Giancarlo Ferrigno Ottavio de Cobelli Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
description	Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control the surgical instruments and the endoscope. This work aims at providing autonomous navigation of the endoscope during a surgical procedure. The autonomous endoscope motion was based on kinematic tracking of the surgical instruments and integrated with the da Vinci Research Kit. A preclinical usability study was conducted by 10 urologists. They carried out an ex vivo orthotopic neobladder reconstruction twice, using both traditional and autonomous endoscope control. The usability of the system was tested by asking participants to fill standard system usability scales. Moreover, the effectiveness of the method was assessed by analyzing the total procedure time and the time spent with the instruments out of the field of view. The average system usability score overcame the threshold usually identified as the limit to assess good usability (average score = 73.25 > 68). The average total procedure time with the autonomous endoscope navigation was comparable with the classic control (p = 0.85 > 0.05), yet it significantly reduced the time out of the field of view (p = 0.022 < 0.05). Based on our findings, the autonomous endoscope improves the usability of the surgical system, and it has the potential to be an additional and customizable tool for the surgeon that can always take control of the endoscope or leave it to move autonomously.
format	article
author	Tommaso Da Col Guido Caccianiga Michele Catellani Andrea Mariani Matteo Ferro Giovanni Cordima Elena De Momi Giancarlo Ferrigno Ottavio de Cobelli
author_facet	Tommaso Da Col Guido Caccianiga Michele Catellani Andrea Mariani Matteo Ferro Giovanni Cordima Elena De Momi Giancarlo Ferrigno Ottavio de Cobelli
author_sort	Tommaso Da Col
title	Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
title_short	Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
title_full	Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
title_fullStr	Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
title_full_unstemmed	Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction
title_sort	automating endoscope motion in robotic surgery: a usability study on da vinci-assisted ex vivo neobladder reconstruction
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/d3674111464147a6aea9e5a4b8151474
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Automating Endoscope Motion in Robotic Surgery: A Usability Study on da Vinci-Assisted Ex Vivo Neobladder Reconstruction

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