Name
Title | ||
|---|---|---|
A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects |
Abstract | ||
|---|---|---|
We present a new teleoperation setup for minimally invasive single-port surgery through natural orifices. The system consists of an intra-corporal parallel slave robot with two instrument arms and a corresponding master interface with four degrees of freedom and grasping. The master interface mimicks the slave robot kinematics to prevent non-achievable movements. With a workspace of ø 60 mm × 85 mm, interaction forces of up to 5 N and mean speeds of up to 327 mm/s the robot is designed to perform a rectum resection intervention, an operation hardly possible with conventional laparoscopic instruments. In this work, we address several ergonomic aspects of the setup, including surgeon's pose, movement scaling, visual feedback, and haptic feedback. Two experiments were performed to investigate the accuracy and dexterity of the robotic system compared to conventional single-port systems. We found a significant decrease of errors in a point-and-touch-task when using the robot, but no effect on the duration of the task. Surgeons were able to perform suturing and knotting tasks as well as a gall bladder extraction in a porcine model with the robot in an hands on experiment. These experiments showed a good intuitivity and a high instrument control precision as described by the participants. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/WHC.2017.7989847 | 2017 IEEE World Haptics Conference (WHC) |
Keywords | Field | DocType |
teleoperated platform,transanal single-port surgery,ergonomics,workspace aspects,teleoperation setup,minimally invasive single-port surgery,natural orifices,intra-corporal parallel slave robot,master interface,grasping,slave robot kinematics,non-achievable movements,rectum resection intervention,laparoscopic instruments,ergonomic aspects,movement scaling,visual feedback,haptic feedback,robotic system,point-and-touch-task,knotting tasks,gall bladder extraction,porcine model,instrument control precision | Kinematics,Workspace,Computer science,Control engineering,Artificial intelligence,Surgery,Haptic technology,Instrument control,Teleoperation,Computer vision,Simulation,Robot kinematics,Robot,User interface | Conference |
ISBN | Citations | PageRank |
978-1-5090-1426-2 | 0 | 0.34 |
References | Authors | |
4 | 12 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christian Hatzfeld | 1 | 29 | 6.04 |
| Carsten Neupert | 2 | 2 | 1.10 |
| Sebastian Matich | 3 | 2 | 1.10 |
| Manuel Braun | 4 | 0 | 0.34 |
| Johannes Bilz | 5 | 0 | 0.34 |
| Jonas Johannink | 6 | 0 | 0.34 |
| Johanna Miller | 7 | 0 | 0.34 |
| Peter Pott | 8 | 3 | 2.64 |
| Helmut F. Schlaak | 9 | 3 | 2.39 |
| Mario Kupnik | 10 | 18 | 4.11 |
| Roland Werthschützky | 11 | 15 | 5.60 |
| Andreas Kirschniak | 12 | 0 | 0.34 |