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A practical system for recording instrument interactions during live robotic surgery.

William McMahan¹, Ernest D Gomez², Liting Chen²

¹Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA. wmcmahan@seas.upenn.edu.

Journal of Robotic Surgery

|March 23, 2016

Summary

We created a low-cost system to measure high-frequency vibrations during robotic surgery, providing an objective metric for surgical skill. This method accurately reflects instrument interaction intensity in real operations.

Keywords:

Haptics Instrument interactions Robotic/instrumentation Sensors Technology assessment Training Vibrotactile feedback

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Area of Science:

Robotic Surgery
Surgical Skill Assessment
Biomedical Engineering

Background:

Objective metrics are needed to assess technical skill in robotic surgery.
High-frequency vibrations during instrument use can indicate interaction intensity.

Purpose of the Study:

To develop and validate a low-cost system for measuring high-frequency vibrations during robotic surgery.
To establish vibration analysis as an objective metric for surgical skill.

Main Methods:

Developed a simple, low-cost system using basic circuitry and a DVD recorder.
Recorded high-frequency vibrations during fourteen sleeve gastrectomies.
Segmented operations into phases and calculated root mean square (RMS) vibration for each.

Main Results:

The system is low-cost, easily implementable, and requires no sterilization.
RMS vibration analysis successfully differentiated between surgical phases.
Observed vibration patterns aligned with expert expectations of instrument interaction intensity.

Conclusions:

The developed system provides a validated, objective metric for technical skill in robotic surgery.
RMS vibration is a reliable indicator of instrument interaction intensity during live procedures.
This technology can be applied in both simulated and operating room settings.