用语音控制手术机器人，提升效率减轻医生负担
Voice control interface for surgical robot assistants
- 集成Whisper语音识别与ROS框架，实现语音指令实时解析
- 在组织三角定位任务中准确率高，推理速度快
- 适合希望减少操作负担的外科医生和机器人辅助手术研究者
传统机器人辅助微创手术的控制界面给外科医生带来显著认知负荷。为提升手术效率、增强人机协作能力并减轻医生负担，本文提出一种新型语音控制接口用于手术机器人助手。系统在ROS框架内集成先进的语音识别模型Whisper，实现对语音指令的实时解析与执行，以控制手术机械臂。该系统包含语音识别模块、动作映射模块和机器人控制模块。实验结果表明，系统具备高准确率与快速推理能力，在组织三角定位任务中验证了其可行性。未来工作将聚焦于进一步提升系统鲁棒性与临床适用性。
原文摘要 · Abstract (English)
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present a novel voice control interface for surgical robotic assistants. Our system integrates Whisper, state-of-the-art speech recognition, within the ROS framework to enable real-time interpretation and execution of voice commands for surgical manipulator control. The proposed system consists of a speech recognition module, an action mapping module, and a robot control module. Experimental results demonstrate the system's high accuracy and inference speed, and demonstrates its feasibility for surgical applications in a tissue triangulation task. Future work will focus on further improving its robustness and clinical applicability.
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