Publicação
Cognitive and physical effort of surgeons using master/slave surgical systems for minimally invasive surgery
| Resumo: | The integration of technology in health care has been increasing over the years, allowing more and better diagnoses and treatments in various areas of health. One of these areas is the surgery area, with da Vinci system being one of the most successful and most commercialized. Despite all the advantages, there are some disadvantages such as a limited number of degrees of freedom, the possibility of collision between the different robotic arms, among others. Therefore, the SMARTsurg (Smart Wearble Robotic Teleoperated Surgery) project was developed for the purpose of correcting these problems, proposing a wearable robotic system for minimally invasive surgeries, offering surgeons more natural movements. However, to verify that this is a necessary improvement, it is necessary to understand how these changes affects the performance and condition of surgeons. Thus, the aim of this dissertation is to compare the muscular and mental effort of surgeons when performing tasks using the da Vinci system and the SMARTsurg system. Biological signals such as electromyography (EMG) and electroencephalography (EEG) were studied to verify how these signals changed using each of the systems. Using these biosignals it was possible to evaluate muscle and mental fatigue in the participants of this study. The experimental trials with the da Vinci system took place at Southmead Hospital Bristol, where the fatigue of clinicians was tested, performing a series of surgical training tasks in the simulator embedded in the da Vinci systems. For the SMARTsurg system, the trials took place at the Bristol Robotics Lab, having been tested volunteers from the lab without any experience in robotic surgical systems and one of the subjects who participated in the trial in the hospital. Also here, subjects were asked to perform small surgical training tasks, similar to those of the da Vinci system. The analysis of the results showed that it was only possible to verify muscle fatigue in participants using the da Vinci system, and it was not possible to determine any type of mental fatigue using any of the systems. Nevertheless, it will be necessary to do more experiments to verify a broader trend in the data, and it was possible to determine with this dissertation the validity of the use of two wireless devices available in the market to infer conclusions about human physiological changes. |
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| Autores principais: | Mendes, Nuno Miguel Patrício |
| Assunto: | Sistemas Robóticos Cirúrgicos Fadiga Mental e Muscular Eletroencefalografia Eletromiografia Teses de mestrado - 2020 |
| Ano: | 2020 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade de Lisboa |
| Idioma: | inglês |
| Origem: | Repositório da Universidade de Lisboa |
| Resumo: | The integration of technology in health care has been increasing over the years, allowing more and better diagnoses and treatments in various areas of health. One of these areas is the surgery area, with da Vinci system being one of the most successful and most commercialized. Despite all the advantages, there are some disadvantages such as a limited number of degrees of freedom, the possibility of collision between the different robotic arms, among others. Therefore, the SMARTsurg (Smart Wearble Robotic Teleoperated Surgery) project was developed for the purpose of correcting these problems, proposing a wearable robotic system for minimally invasive surgeries, offering surgeons more natural movements. However, to verify that this is a necessary improvement, it is necessary to understand how these changes affects the performance and condition of surgeons. Thus, the aim of this dissertation is to compare the muscular and mental effort of surgeons when performing tasks using the da Vinci system and the SMARTsurg system. Biological signals such as electromyography (EMG) and electroencephalography (EEG) were studied to verify how these signals changed using each of the systems. Using these biosignals it was possible to evaluate muscle and mental fatigue in the participants of this study. The experimental trials with the da Vinci system took place at Southmead Hospital Bristol, where the fatigue of clinicians was tested, performing a series of surgical training tasks in the simulator embedded in the da Vinci systems. For the SMARTsurg system, the trials took place at the Bristol Robotics Lab, having been tested volunteers from the lab without any experience in robotic surgical systems and one of the subjects who participated in the trial in the hospital. Also here, subjects were asked to perform small surgical training tasks, similar to those of the da Vinci system. The analysis of the results showed that it was only possible to verify muscle fatigue in participants using the da Vinci system, and it was not possible to determine any type of mental fatigue using any of the systems. Nevertheless, it will be necessary to do more experiments to verify a broader trend in the data, and it was possible to determine with this dissertation the validity of the use of two wireless devices available in the market to infer conclusions about human physiological changes. |
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