Details
| Original language | English |
|---|---|
| Title of host publication | New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications |
| Editors | Fernando Viadero, Paulo Flores |
| Publisher | Kluwer Academic Publishers |
| Pages | 81-89 |
| Number of pages | 9 |
| ISBN (electronic) | 9783319094106 |
| Publication status | Published - 2015 |
| Event | 5th European Conference on Mechanism Science, EUCOMES 2014 - Guimarães, Portugal Duration: 16 Sept 2014 → 19 Sept 2014 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 24 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
Laparo-endoscopic surgery is the treatment of choice in a variety of intra-abdominal interventions, leading to lower infection risk, shorter recovery time, and smaller scars. This paper presents a method for quantifying workspaces of instruments in laparoscopic surgery. In contrast to most existing approaches, the proposed performance criterion combines the executable positions and orientations of the instrument’s functional end. Together with both, an intervention specific workspace and consideration of collisions between instruments, the introduced criterion is suitable to evaluate and compare laparoscopic instruments and systems quantitatively. A three-dimensional, color-scale visualization of the criterion helps analyzing laparoscopic instruments or systems. The presented methods are evaluated with instruments of the da Vinci Surgical System by Intuitive Surgical, Inc. While evaluating the presented performance criterion, the workspace dependency of EndoWrist instruments under influence of different distances of trocar points is demonstrated and quantified.
Keywords
- Kinematic evaluation, Laparoscopic surgery, Medical devices, Workspace
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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- BibTeX
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New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications. ed. / Fernando Viadero; Paulo Flores. Kluwer Academic Publishers, 2015. p. 81-89 (Mechanisms and Machine Science; Vol. 24).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Workspace analysis for evaluating laparoscopic instruments
AU - Borchard, J. H.
AU - Dierßen, F.
AU - Kotlarski, J.
AU - Kahrs, Lüder Alexander
AU - Ortmaier, Tobias
PY - 2015
Y1 - 2015
N2 - Laparo-endoscopic surgery is the treatment of choice in a variety of intra-abdominal interventions, leading to lower infection risk, shorter recovery time, and smaller scars. This paper presents a method for quantifying workspaces of instruments in laparoscopic surgery. In contrast to most existing approaches, the proposed performance criterion combines the executable positions and orientations of the instrument’s functional end. Together with both, an intervention specific workspace and consideration of collisions between instruments, the introduced criterion is suitable to evaluate and compare laparoscopic instruments and systems quantitatively. A three-dimensional, color-scale visualization of the criterion helps analyzing laparoscopic instruments or systems. The presented methods are evaluated with instruments of the da Vinci Surgical System by Intuitive Surgical, Inc. While evaluating the presented performance criterion, the workspace dependency of EndoWrist instruments under influence of different distances of trocar points is demonstrated and quantified.
AB - Laparo-endoscopic surgery is the treatment of choice in a variety of intra-abdominal interventions, leading to lower infection risk, shorter recovery time, and smaller scars. This paper presents a method for quantifying workspaces of instruments in laparoscopic surgery. In contrast to most existing approaches, the proposed performance criterion combines the executable positions and orientations of the instrument’s functional end. Together with both, an intervention specific workspace and consideration of collisions between instruments, the introduced criterion is suitable to evaluate and compare laparoscopic instruments and systems quantitatively. A three-dimensional, color-scale visualization of the criterion helps analyzing laparoscopic instruments or systems. The presented methods are evaluated with instruments of the da Vinci Surgical System by Intuitive Surgical, Inc. While evaluating the presented performance criterion, the workspace dependency of EndoWrist instruments under influence of different distances of trocar points is demonstrated and quantified.
KW - Kinematic evaluation
KW - Laparoscopic surgery
KW - Medical devices
KW - Workspace
UR - http://www.scopus.com/inward/record.url?scp=84928238073&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-09411-3_9
DO - 10.1007/978-3-319-09411-3_9
M3 - Conference contribution
AN - SCOPUS:84928238073
T3 - Mechanisms and Machine Science
SP - 81
EP - 89
BT - New Trends in Mechanism and Machine Science - From Fundamentals to Industrial Applications
A2 - Viadero, Fernando
A2 - Flores, Paulo
PB - Kluwer Academic Publishers
T2 - 5th European Conference on Mechanism Science, EUCOMES 2014
Y2 - 16 September 2014 through 19 September 2014
ER -