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Research on Ergonomic Image Depth of Head-Mounted Display as Next-Generation Surgical Vision System
김영균,이종현,김병수,윤단,조민우,Sungwan Kim 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Robot-assisted minimally invasive surgery (RMIS) is predominantly used for various laparoscopic surgery. However, the surgeons were troubled with fatigue about the neck, back, and shoulders due to structural limitations of the conventional vision system. To alleviate the issue, the head-mounted display (HMD) was proposed as a next-generation surgical vision system due to the advantages that provide stereoscopic views and ease the restraint about posture. Besides, to provide the most ergonomic view for surgeons, the degree of depth (DOD) has to be considered for surgeons to perceive the endoscopic view easily. In this research, the relation between the DOD and recognition was investigated employing a gripping task based on the sea spike pods. The design for the task was based on the da Vinci<sup>®</sup> research kit (dVRK) as a manipulation platform, endoscope camera system, and the HMD as a vision system. Through the research, the DOD to provide an appropriate view for surgeons was drawn.