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A collaborative robotic uterine positioning system for laparoscopic hysterectomy: Design and experiments
Hiu Man Yip1,2, Zerui Wang1, David Navarro-Alarcon2
1The Chinese University of Hong Kong, Shatin, Hong Kong.
Summary
A new robotic system assists surgeons with uterus manipulation during laparoscopic hysterectomy, offering improved control and responsiveness compared to human assistants. Further development is needed to enhance user-friendliness and the interface.
Area of Science:
- Minimally Invasive Surgery
- Surgical Robotics
- Gynecologic Oncology
Background:
- Uterus manipulation during laparoscopic hysterectomy is traditionally performed by a human assistant, which can be time-consuming and lead to decreased performance.
- The primary surgeon lacks direct control over uterus positioning, relying on verbal commands to the assistant.
Purpose of the Study:
- To develop and evaluate a robotic system for automated uterus manipulation during laparoscopic hysterectomy.
- To provide surgeons with enhanced control over uterus positioning and improve surgical efficiency.
Main Methods:
- A 3 degrees-of-freedom robotic uterine positioner with a remote center of motion was developed.
- The system allows for independent control of uterus motion through individual joint manipulation.
Main Results:
- Laboratory experiments demonstrated superior performance in position retention and responsiveness to surgeon commands compared to human assistance.
- Feasibility was confirmed through cadaver studies and successful application in a clinical study with real patients.
Conclusions:
- The developed robotic system effectively assists with uterus manipulation in laparoscopic hysterectomy.
- Improvements in user-friendliness, including simplifying the docking procedure and optimizing the user interface, are recommended for future iterations.
