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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Comparison of two actuation systems for laparoscopic surgical manipulators using motion analysis
Yogesh Vinod Kolwadkar1, Stuart I Brown, Rami J Abboud
1Department of Orthopedic and Trauma Surgery, University of Dundee, Dundee, DD1 9SY, UK.
Surgical Endoscopy
|August 25, 2010
Summary
The fingertip control (FTC) manipulator is ergonomically superior to the master slave control (MSC) manipulator, offering better maneuverability and precision in surgical tasks. Motion analysis effectively assesses surgical instrument design.
Area of Science:
- Surgical robotics
- Biomechanics
- Human-computer interaction
Background:
- Upper limb joints coordinate complex surgical tasks.
- Optimizing hand-instrument interfaces requires analyzing joint movements during surgery.
- This study compares two 6-DOF surgical manipulators: fingertip control (FTC) and master slave control (MSC).
Purpose of the Study:
- To compare the ergonomics and movement efficiency of FTC and MSC surgical manipulators.
- To evaluate the utility of motion analysis in assessing surgical tool design.
Main Methods:
- Seventeen subjects performed standardized surgical tasks in a simulator.
- Motion capture analyzed trunk, shoulder, elbow, wrist, and finger joint movements.
- Subjects completed a Visual Analogue Scale questionnaire on control preference and ease of handling.
Main Results:
- The MSC manipulator was harder to handle, with increased joint movement ranges, velocities, and accelerations compared to FTC.
- MSC use resulted in higher surgical error rates.
- Subjects preferred the FTC manipulator, rating its maneuverability higher.
Conclusions:
- The MSC manipulator demonstrated inferior ergonomics, handling, and precision, leading to higher error rates than FTC.
- Motion analysis is a valuable tool for evaluating handheld manipulator designs in endoscopic surgery.
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