对比四种导航方式，发现仿器械控制器更安全高效。
Manual, Joystick, or Haptic Control? An In Vitro Comparison of Navigation Strategies for Robotic Interventional Neuroradiology Procedures
- 用仿器械控件、摇杆、手动等四种方式模拟血管导航
- 手动最快（47.7秒），摇杆易导致导管脱出（1.56次）
- 触觉反馈提升操作直观性，专家表现优于新手
目的：在体外评估机器人介入神经放射学操作中不同控制接口的安全性，采用力传感平台进行评估。方法：开发定制血管内机器人、仿器械控制器及传感器化神经血管模型。10名介入神经放射科医生（4名新手，6名专家）使用四种控制方式完成模拟导航：带/不带触觉反馈的仿器械控制器、基于摇杆的输入以及手动操作。评估导航时间、最大血管壁力、错误置管次数和脱出事件，并进行用户分析。结果：手动导航最快（均值47.7秒），显著优于触觉开启（248.7秒）、触觉关闭（314.7秒）和摇杆（392.6秒）（p<0.001）。所有方式下血管壁力均低于0.70 N穿刺阈值，因此均安全。摇杆组脱出事件显著多于手动组（1.56 vs 0.13；p=0.018）。操作经验影响表现：专家错误置管次数少于新手（0.25 vs 0.62；p=0.035），施加的血管壁力更小（p<0.0005），且该差异在开启触觉时更明显。用户感知上，触觉开启与关闭方式直观性相当，均优于摇杆（p=0.033）。结论：仿器械控制器在多数指标上优于摇杆接口；触觉反馈展现潜力但未达统计显著性。
原文摘要 · Abstract (English)
Objective: To evaluate robotic controller interfaces for interventional neuroradiology procedures in-vitro incorporating a force-sensing platform to assess safety. Methods: A custom endovascular robot, device-mimicking controller, and sensorized neurovascular phantom were developed. Ten interventional neuroradiologists (4 novices, 6 experts) performed simulated navigations using four control modalities: device-mimicking controllers with and without haptic feedback, joystick-based input, and manual navigation. Navigation time, peak vessel-wall forces, incorrect catheterisations, and prolapse events were assessed, alongside user analyses. Results: Manual navigation was fastest (mean 47.7 s) compared to haptic-on (248.7 s), haptic-off (314.7 s), and joystick (392.6 s) modalities (p<0.001). Regardless of controller type, vessel-wall forces were below the 0.70 N puncture threshold; therefore all modalities were considered safe. Joystick produced significantly more prolapse events than manual control (1.56 vs 0.13; p=0.018). Operator experience was relevant to performance: experts made fewer incorrect catheterisations than novices (0.25 vs 0.62; p=0.035) and applied less vessel-wall force (p<0.0005); these effects were sustained across controllers but accentuated when haptics were on. Users perceived haptic on and haptic off as similarly intuitive, and more intuitive than joystick (p=0.033). Conclusion: Device-mimicking robotic controllers outperform joystick interfaces on most metrics; haptic feedback shows promising but non-significant performance benefits.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。