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Measurement of Spatial Stability in Precision Grip
Published on: June 4, 2020
Differences in grip forces among various robotic instruments and da Vinci surgical platforms
Phillip Mucksavage1, David C Kerbl, Donald L Pick
1Department of Urology, University of California-Irvine, Orange, California 92868, USA. pmucksav@uci.edu
Journal of Endourology
|January 18, 2011
Summary
Grip forces vary significantly between da Vinci robotic surgical instruments and platforms. Understanding these differences is crucial for safe and effective robotic-assisted surgery, especially without haptic feedback.
Area of Science:
- Robotics in Surgery
- Surgical Instrumentation
- Biomechanics
Background:
- The da Vinci surgical platform's increasing use necessitates methods to assess instrument grip forces due to the absence of haptic feedback.
- Visual cues are vital for surgeons to estimate grip forces and tissue tension during robotic procedures.
- Direct measurement of EndoWrist instrument grip forces across da Vinci platforms was performed.
Purpose of the Study:
- To quantify and compare the grip forces exerted by various da Vinci robotic surgical instruments.
- To evaluate grip force variations across different da Vinci surgical system platforms (S, Si, Standard).
Main Methods:
- Robotic instruments from da Vinci S, Si, and Standard systems were tested.
- A load cell system measured grip forces applied by instrument tips.
- Data were analyzed using Student's t-tests and analysis of variance.
Main Results:
- Grip forces showed statistically significant differences based on instrument degrees of freedom (p=0.02) and instrument age (p=0.001).
- A wide range of grip forces was observed, from 2.26 ± 0.15 N (double fenestrated grasper) to 39.92 ± 0.89 N (Hem-o-lok clip applier).
- The Standard platform exhibited significantly higher grip forces compared to the S and Si platforms.
Conclusions:
- Significant variations in grip forces exist among different da Vinci robotic instruments.
- Grip force differences were also noted between the Standard and the S/Si da Vinci platforms.
- These findings highlight the importance of instrument and platform selection in robotic surgery.
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