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A foundation for the design and assessment of improved instruments for minimally invasive surgery Person, John Gunnar
Abstract
The goals of this project are to establish a foundation for research into the design and assessment of improved instruments for minimally invasive surgery (MIS). Minimally invasive surgery has exploded into general surgical practice in the last decade with the introduction of the laparoscopic cholecystectomy. Though beneficial to patients, the new technique is complicated by physical and mental challenges which make it difficult for surgeons to master. Improved instrumentation and teleoperators have the potential to ease the strain of performing the technique and improve surgeon performance. An experiment on the effects of physical constraints on surgeon performance is presented, in this report suggests that an economical and effective solution is to develop a teleoperator device constrained to 4 degrees of freedom which restores the natural motion mapping between the hand and instrument tip across the fulcrum point in the abdomen wall. A prototype 4 degree of freedom, mechanical teleoperator is constructed to'test this theory. The goal in developing this device is to map motion from the surgeon controlled master handle to the slave instrument tip within the surgical site, using only mechanical force transmission. Such a device has the potential to offer an economic solution to performance problems currently seen in MIS. Pitch and yaw motions are mapped between master and slave by direct mechanical linkage. Fundamental problems with a novel friction drive mechanism, however, prevent the prototype from functioning as anticipated, leaving the project open to future improvements. In order to effectively test for real improvements in surgeon performance, we also proposed a motion analysis system for measuring surgeon performance during actual surgeries. This system will be employed in future studies to validate surgical simulations in the laboratory which may be used to test and develop new instruments. A pilot study is performed to assess the potential of using the system to track the unconstrained motion of the surgeon's dominant arm over the course of a laparoscopic cholecystectomy. An ergonomic posture sampling study is performed to demonstrate the usefulness of the motion analysis system in this application.
Item Metadata
Title |
A foundation for the design and assessment of improved instruments for minimally invasive surgery
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
2000
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Description |
The goals of this project are to establish a foundation for research into the design and assessment
of improved instruments for minimally invasive surgery (MIS). Minimally invasive surgery has
exploded into general surgical practice in the last decade with the introduction of the
laparoscopic cholecystectomy. Though beneficial to patients, the new technique is complicated
by physical and mental challenges which make it difficult for surgeons to master.
Improved instrumentation and teleoperators have the potential to ease the strain of performing
the technique and improve surgeon performance. An experiment on the effects of physical
constraints on surgeon performance is presented, in this report suggests that an economical and
effective solution is to develop a teleoperator device constrained to 4 degrees of freedom which
restores the natural motion mapping between the hand and instrument tip across the fulcrum
point in the abdomen wall.
A prototype 4 degree of freedom, mechanical teleoperator is constructed to'test this theory. The
goal in developing this device is to map motion from the surgeon controlled master handle to the
slave instrument tip within the surgical site, using only mechanical force transmission. Such a
device has the potential to offer an economic solution to performance problems currently seen in
MIS. Pitch and yaw motions are mapped between master and slave by direct mechanical
linkage. Fundamental problems with a novel friction drive mechanism, however, prevent the
prototype from functioning as anticipated, leaving the project open to future improvements.
In order to effectively test for real improvements in surgeon performance, we also proposed a
motion analysis system for measuring surgeon performance during actual surgeries. This system
will be employed in future studies to validate surgical simulations in the laboratory which may
be used to test and develop new instruments. A pilot study is performed to assess the potential
of using the system to track the unconstrained motion of the surgeon's dominant arm over the
course of a laparoscopic cholecystectomy. An ergonomic posture sampling study is performed
to demonstrate the usefulness of the motion analysis system in this application.
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Extent |
19025252 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-07-08
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0080974
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
2000-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.