NDLI: Optimal port placement could improve the ergonomic design of laparoscope manipulating robot

Content Provider	IEEE Xplore Digital Library
Author	Khampitak, K. Wattanachai, S. Kunkitti, P. Kumpa, N. Techajedchadarungsri, S. Samsong, P. Khampitak, T. Seejorn, K.
Copyright Year	2010
Description	Author affiliation: Faculty of Engineer, Khon Kaen University, Khon Kaen, 40002, Thailand (Techajedchadarungsri, S.) \|\| Faculty of Veterinary Medicine, Khon Kaen University, Khon Kaen, 40002, Thailand (Khampitak, K.; Wattanachai, S.; Kunkitti, P.; Kumpa, N.; Samsong, P.; Khampitak, T.; Seejorn, K.)
Abstract	Laparoscope manipulating robot is useful for maintaining a stable view during a laparoscopic operation. However, a large apparatus can interfere with surgical space, set-up time and repositioning. Furthermore, it consumes a lot of initial and maintenance cost. Ten consecutive robotic assisted laparoscopic pelvic surgeries were performed in order to study the maximum and optimal motion-angle in difference port placements. The maximum horizontal angle(X) for right pelvic view (Mx Rt X) was 30 degree and the maximum horizontal angle(X) for left pelvic view (Mx Lt X) was −25 degree. The median of maximum vertical angle (Y) for upward motion (Mx Up Y) was 44 degree (range 32–55 degree) and the median of maximum vertical angle (Y) for downward motion (Mx Dn Y) was 24 degree. The median optimal angle in operation of right uterine horn was 14 degree (range 3–30 degree) in horizontal plane (Opt Rt X) and 28 degree (range 24–43 degree) in vertical plane (Opt Rt Y). The median optimal angle in operation of left uterine horn was −10 degree (range −4–−25 degree) in horizontal plane (Opt Lt X) and 29 degree (range 24–51 degree) in vertical plane (Opt Lt Y). The median optimal depth (Z) of endoscope position in right uterine horn operation (Opt In Rt Z) was 9.5 cm (range 7.5–12.5 cm) and left(Opt In Lt Z) was 9.5 cm (range 6–12.5 cm). L, U, +1U ports were selected by an experience gynecologic laparoscopist as the suitable port mimicked to human pelvic surgery. Then we concluded that the endoscope camera needed to move from −30 degree to +30 degree in the left to right direction (X) and from 0 degree to +60 degree in the up/down (Y) direction and, 15 cm for in/out motion (Z) in order to reach the maximum angle for full pelvic operation. From this results, we hope to design an ergonomic robot with less interferes with the surgeon.
Starting Page	147
Ending Page	150
File Size	772469
Page Count	4
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Laparoscopes Minimally invasive surgery Endoscopes Robot vision systems Surgery Optimized production technology Cameras Surgical robot Camera manipulating robot
Content Type	Text
Resource Type	Article

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