Evidence map›Paper›PMID 32514831›Full record

ArticleSurgical endoscopy2021

Compensatory motion scaling for time-delayed robotic surgery.

Ryan K Orosco, Benjamin Lurie, Tokio Matsuzaki, Emily K Funk, Vasu Divi, F Christopher Holsinger, Steven Hong, Florian Richter, Nikhil Das, Michael Yip

Erratum issuedAbstract read
PubMed Publisher
In one paragraph

Article in Surgical endoscopy, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 18 papers, 3 of them syntheses that pooled it.

0numbers the graph read from it
0cells of the map it votes in
18citing papers in PubMed, 3 pooled it
5.1field-weighted citation impact, top 4% of its field
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

18 citing papers in PubMed, 3 syntheses or guidelines pooled it, 42 citations in OpenAlex.

  1. Pooled it
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  13. Review
  14. Concepts and Trends n Autonomy for Robot-Assisted Surgery.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022
    Article
  15. Article
  16. Robotic colorectal surgery and ergonomics.Journal of robotic surgery · 2022
    Review
  17. Article
  18. A Brief Survey of Telerobotic Time Delay Mitigation.Frontiers in robotics and AI · 2020
    Review
4 · The record

Corrections and comments

5 · Who and what money

Authors and funding

10 authors at 5 institutions in 2 countries.

Ryan K OroscoDivision of Head and Neck Surgery, Department of Surgery, Moores Cancer Center, University of California San Diego, San Diego, CA, USA. rorosco@health.ucsd.edu.ORCID http://orcid.org/0000-0002-7885-4327
Benjamin LurieDivision of Head and Neck Surgery, Department of Surgery, Moores Cancer Center, University of California San Diego, San Diego, CA, USA.
Tokio MatsuzakiDepartment of Cardiac Surgery, Japan Biodesign Program, The University of Tokyo, Tokyo, Japan.
Emily K FunkDivision of Head and Neck Surgery, Department of Surgery, Moores Cancer Center, University of California San Diego, San Diego, CA, USA.
Vasu DiviDepartment of Otolaryngology, Stanford University, Stanford, CA, USA.
F Christopher HolsingerDepartment of Otolaryngology, Stanford University, Stanford, CA, USA.
Steven HongDivision of Otolaryngology, Walter Reed National Military Medical Center, Bethesda, MD, USA.
Florian RichterDepartment of Electrical and Computer Engineering, University of California San Diego, San Diego, CA, USA.
Nikhil DasDepartment of Electrical and Computer Engineering, University of California San Diego, San Diego, CA, USA.
Michael YipDepartment of Electrical and Computer Engineering, University of California San Diego, San Diego, CA, USA.
University of California San Diego · USStanford University · USThe University of Tokyo · JPUC San Diego Health System · USWalter Reed National Military Medical Center · US

Funding

OTOLARYNGOLOGY TRAINING IN IMMUN., VIROL. &MOLEC. BIOL.T32DC000028 · NIDCD · UNIVERSITY OF CALIFORNIA, SAN DIEGO · PI RYAN, ALLEN F. · 1989 to 2020
$2.1M
6 · The paper itself

Abstract

backgroundRound trip signal latency, or time delay, is an unavoidable constraint that currently stands as a major barrier to safe and efficient remote telesurgery. While there have been significant technological advancements aimed at reducing the time delay, studies evaluating methods of mitigating the negative effects of time delay are needed. Herein, we explored instrument motion scaling as a method to improve performance in time-delayed robotic surgery.

methodsThis was a robotic surgery user study using the da Vinci Research Kit system. A ring transfer task was performed under normal circumstances (no added time delay), and with 250 ms, 500 ms, and 750 ms delay. Robotic instrument motion scaling was modulated across a range of values (- 0.15, - 0.1, 0, + 0.1, + 0.15), with negative values indicating less instrument displacement for a given amount of operator movement. The primary outcomes were task completion time and total errors. Three-dimensional instrument movement was compared against different motion scales using dynamic time warping to demonstrate the effects of scaling.

resultsPerformance declined with increasing time delay. Statistically significant increases in task time and number of errors were seen at 500 ms and 750 ms delay (p < 0.05). Total errors were positively correlated with task time on linear regression (R = 0.79, p < 0.001). Under 750 ms delay, negative instrument motion scaling improved error rates. Negative motion scaling trended toward improving task times toward those seen in non-delayed scenarios. Improvements in instrument path motion were seen with the implementation of negative motion scaling.

conclusionsUnder time-delayed conditions, negative robotic instrument motion scaling yielded fewer surgical errors with slight improvement in task time. Motion scaling is a promising method of improving the safety and efficiency of time-delayed robotic surgery and warrants further investigation.

Indexed as

RoboticsRobotic Surgical ProceduresHumansMotionMovementMotion scalingRobotic surgerySignal latencyTeleroboticsTelesurgery

Identifiers

PMID32514831
OpenAlexW3034042169

What OpenQuestion holds

Textmetadata
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.