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[M006] Citation: J. Brown, J. Rosen, B. Hannaford, M. Sinanan, 'A Passive Mechanical Pantograph System for Measuring Tool Position During Minimally Invasive Surgery (Poster),'
Bioengineering, vol. 28, Supplement 1, Seattle, WA, October 2000.
Abstract
Relatively little is known about the forces and displacements applied to
tissues in
minimally invasive surgical procedures. In previous research, we have measured
forces and
torques surgeons apply during laparoscopic cholecystectomy and Nissen
fundoplication. To
better understand the biomechanics of the procedure, we want to measure the
movements of
the surgical tool using a passive mechanical "pantograph" system, utilizing
lightweight
aluminum and composite materials. With this data, surgeons' work and energy
expenditures
can be calculated. A mock-up of the system was tested in the operating room and
found
suitable for surgeons' use. Rotary potentiometers measure the position and
orientation of
the tool tip with 0.028mm of repeatability, as well as the amount of opening of
the
tool's jaws. The system can be constrained to allow movement in a single plane.
Using the
previously developed force-sensing tool, we will gather reaction force data at
the
abdominal wall interface and record the movements of the surgeons' instruments
during a
surgical procedure. This information will allow development of models of the
abdominal
wall for more accurate surgical simulators.
(formerly M142)
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Updated: Tue Jul 15 23:54:51 2008
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