用触觉辅助虚拟现实训练，提升外科机器人手术技能迁移能力
Implementation and Assessment of an Augmented Training Curriculum for Surgical Robotics
- 开发带物理引擎的触觉增强仿真系统，支持8个手术任务交互
- 引入高阶触觉引导后，训练者在无辅助场景中表现显著提升
- 适合医学生和外科医生训练，尤其关注技能向临床场景迁移
将高级辅助算法融入外科机器人训练课程，有助于建立更全面、稳健的技能体系，从而提升临床表现。本文提出并验证了一种基于触觉增强的虚拟现实外科机器人训练模拟器，内置8个手术任务，通过嵌入式物理引擎实现交互。该虚拟环境引入高层级触觉接口，可引导操作者手部与腕部运动朝向目标或避开障碍，并在每次训练后提供量化评分。实验表明，引入增强型机器人辅助后，不仅提升了训练过程中的表现，更关键的是促进了技能向无辅助临床场景的有效迁移。
原文摘要 · Abstract (English)
The integration of high-level assistance algorithms in surgical robotics training curricula may be beneficial in establishing a more comprehensive and robust skillset for aspiring surgeons, improving their clinical performance as a consequence. This work presents the development and validation of a haptic-enhanced Virtual Reality simulator for surgical robotics training, featuring 8 surgical tasks that the trainee can interact with thanks to the embedded physics engine. This virtual simulated environment is augmented by the introduction of high-level haptic interfaces for robotic assistance that aim at re-directing the motion of the trainee's hands and wrists toward targets or away from obstacles, and providing a quantitative performance score after the execution of each training exercise.An experimental study shows that the introduction of enhanced robotic assistance into a surgical robotics training curriculum improves performance during the training process and, crucially, promotes the transfer of the acquired skills to an unassisted surgical scenario, like the clinical one.
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