Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps trainees learn to perform tasks with greater speed and accuracy. We hypothesized that training in a force field that pushes the operator away from a desired path would improve their performance on a virtual reality ring-on-wire task. Forty surgical novices trained under a no-force, guidance, or error-amplifying force field over five days. Completion time, translational and rotational path error, and combined error-time were evaluated under no force field on the final day. The groups significantly differed in combined error-time, with the guidance group performing the worst. Error-amplifying field participants showed the most improvement and did not plateau in their performance during training, suggesting that learning was still ongoing. Guidance field participants had the worst performance on the final day, confirming the guidance hypothesis. Participants with high initial path error benefited more from guidance. Participants with high initial combined error-time benefited more from guidance and error-amplifying force field training. Our results suggest that error-amplifying and error-reducing haptic training for robot-assisted telesurgery benefits trainees of different abilities differently.

翻译：远程操作机器人系统为微创手术引入了更直观的控制方式，但最优训练方法仍不明确。近期运动学习研究表明，误差的夸大有助于受训者以更快的速度和更高的精度学习执行任务。我们假设，在将操作者推离期望路径的力场中进行训练，能提升其在虚拟现实"环-线"任务上的表现。四十名手术初学者在五天内在无作用力、引导或误差放大力场下进行训练。最后一天在无作用力场下评估了完成时间、平移及旋转路径误差、以及组合误差时间。各组在组合误差时间上存在显著差异，引导组表现最差。误差放大组参与者的改善最为明显，且训练期间表现未出现平台期，表明学习仍在持续。引导组参与者在最后一天表现最差，验证了引导假说。初始路径误差高的参与者从引导中获益更多。初始组合误差时间高的参与者从引导和误差放大作用力场训练中获益更多。我们的结果表明，针对机器人辅助远程手术的误差放大与误差减少触觉训练对不同能力的受训者产生差异化受益。