A Passive Mechanical Pantograph System for Measuring Tool Position During Minimally Invasive Surgery

Brown, J. and Rosen, J. and Hannaford, B. and Sinanan, M. (2000) A Passive Mechanical Pantograph System for Measuring Tool Position During Minimally Invasive Surgery. In: BMES 2000, Biomedical Engineering Society, Annual Meeting, Seattle, WA.

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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)

Item Type: Conference or Workshop Item (Poster)
Subjects: C Surgical Robots > C Surgical Robots(General)
Depositing User: Jeffrey Herron
Date Deposited: 07 Jul 2015 21:23
Last Modified: 07 Jul 2015 21:23
URI: http://brl.ee.washington.edu/eprints/id/eprint/68

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