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A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects

Hatzfeld, Christian and Neupert, Carsten and Matich, Sebastian and Braun, Manuel and Bilz, Johannes and Johannink, Jonas and Miller, Johanna and Pott, Peter P. and Schlaak, Helmut F. and Kupnik, Mario and Werthschützky, Roland and Kirschniak, Andreas (2017):
A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects.
In: 2017 IEEE World Haptics Conference (WHC), pp. 1-6, DOI: 10.1109/WHC.2017.7989847,
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2017
Creators: Hatzfeld, Christian and Neupert, Carsten and Matich, Sebastian and Braun, Manuel and Bilz, Johannes and Johannink, Jonas and Miller, Johanna and Pott, Peter P. and Schlaak, Helmut F. and Kupnik, Mario and Werthschützky, Roland and Kirschniak, Andreas
Title: A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects
Language: English
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.

Uncontrolled Keywords: ergonomics;medical robotics;robot kinematics;surgery;ergonomic aspects;ergonomics;gall bladder extraction;grasping;haptic feedback;instrument control precision;intra-corporal parallel slave robot;knotting tasks;laparoscopic instruments;master interface;minimally invasive single-port surgery;movement scaling;natural orifices;non-achievable movements;point-and-touch-task;porcine model;rectum resection intervention;robotic system;slave robot kinematics;teleoperated platform;teleoperation setup;transanal single-port surgery;visual feedback;workspace aspects;Haptic interfaces;Instruments;Kinematics;Manipulators;Surgery;User interfaces
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Microtechnology and Electromechanical Systems
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Event Title: 2017 IEEE World Haptics Conference (WHC)
Date Deposited: 09 Oct 2017 12:53
DOI: 10.1109/WHC.2017.7989847
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