Baş ve Göz Takip Sistemine Dayalı, Eller Serbest Özellikli Robotik Eksoskop
Özet
An exoscope is a high definition video teleoperated system for performing microsurgery and
it has been proposed as an alternative method for the operating microscope. It provides a
visualizing magnified image of application areas on a display helping the surgeons to
complete the operation. The advantages of the exoscope are providing a wide field of view
and deep focus of application area. Moreover, the system is minimizing the need for
repositioning and refocusing. On the other hand, the exoscope has also limitations such as
performing under 2D motion images. Additionally, conducting fast and safe interactions
with a surgical microscope or exoscope are one of the basic principles applied in
microsurgery and the exoscope requires improved hand and eye coordination for high
precision work. Studies revealed inefficiencies of the current manual hand-grip, foot-pedal,
and mouth-switch interaction techniques with these magnifiers. Adjusting the field of view
is a frequent source of unwanted delay and interruption when using a microscope or
exoscope in microsurgery. Consequently, in this thesis, we present an experimental
investigation of hands-free control for an exoscope system. We report the development of a
head and gaze-contingent robotic exoscope for camera viewpoint automation. We recorded
empirical measures, namely task completion time and the number of errors, and examined
the user workload using NASA task load index. The results show the task completion time
is shorter for hands-free exoscope compared to hand-based interaction technique. We further
show the challenges and difficulties related to mental, physical, and temporal demand as
well as performance, effort, and frustration level of participants for the design of the hands free surgical exoscope.
