开发可嵌入手术训练箱的低成本四自由度动作追踪设备，实现微创手术技能客观评估。
A novel Integrated Motion Tracking Device (IMTD) for Objective Laparoscopic Training Assessment: Development and Validation
- 设计紧凑四自由度追踪装置，适配标准手术训练箱并精准捕捉器械运动。
- 与动捕系统对比验证，追踪精度高，能有效量化操作的精准度、流畅性与效率。
- 适合手术教学评估，助力新手缩短学习曲线，支持未来评分算法开发。
本文提出一种新型紧凑型四自由度动作追踪装置（IMTD），专为腹腔镜手术培训与评估设计。该装置的运动学、机械结构、传感方案及原型均已开发并展示，满足腹腔镜训练中围绕固定旋转中心运动的需求，并可无缝集成至标准盒式训练器。通过与动作捕捉系统（MoCap）对比，评估了其在捕捉手术器械角运动与平移运动方面的准确性与可靠性。研究聚焦于操作精度、流畅性、速度及整体运动效率等关键性能指标。结果表明，该系统能有效追踪手术动作，为微创手术技能训练与评估提供有价值的数据支持。此外，由于成本低且集成度高，可轻松部署于训练室，具备实际应用潜力。通过提供客观实时反馈，该系统有助于提升外科医生技能水平，缩短学习周期，同时为未来手势评分算法与标准化培训协议的发展奠定基础。
原文摘要 · Abstract (English)
This paper presents a novel, compact four-degree-of-freedom motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, instrumentation, and prototypes are developed and presented to meet the specific requirements of laparoscopic training context, including movement around a fixed center of motion and seamless integration into standard box trainers. The system IMTD's tracking accuracy and reliability are compared to a motion capture system (MoCap), assessing its ability to capture both angular and translational motions of surgical instruments. The study then focuses on key performance parameters including precision, fluidity, speed, and overall motion efficiency. The results highlight the system's effectiveness in tracking surgical gestures, providing valuable insights into its potential as a tool for training and performance evaluation in minimally invasive surgery. Additionally, IMTD's low cost and integrated design allow for easy integration and implementation in training rooms, offering a practical and accessible solution for general use. By offering objective, real-time feedback, the system can significantly contribute to improving surgical skills and shortening the learning curve for novice students, while also providing a foundation for future development of gesture scoring algorithms and standardized training protocols.
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