Interactive 3D Force/Torque Parameter Acquisition and Correlation Identification during Primary Trocar Insertion in...

Area of Science:

• Minimally Invasive Surgery
• Surgical Robotics
• Biomechanics

Background:

• Laparoscopic surgery relies on primary trocar insertion, a critical step with risks of gastrointestinal and vascular injury.
• Developing robotic-assisted or automated surgical systems requires a deep understanding of the trocar insertion process.

Purpose of the Study:

• To investigate the interactive force/torque (F/T) behavior during trocar insertion in gastrointestinal surgery.
• To gather data that can inform the development of safer and more efficient robotic surgical technologies.

Main Methods:

• A six-axis F/T sensor was integrated with a trocar for real-time data acquisition during laparoscopic procedures.
• Data were collected from five abdominal hernia surgical cases performed by experienced surgeons.
• Force/torque data were processed and analyzed to identify patterns and correlations.

Main Results:

• Significant fluctuations in F/T parameters were observed, with peak forces from 16.83 N to 61.86 N and peak torques from 0.552 Nm to 1.76 Nm.
• Procedural time positively correlated with applied force, while torque showed a negative correlation.
• Robotic systems may achieve sufficient insertion with single-axis push and turn motions, prioritizing low push force and high torque for minimal damage and time.

Conclusions:

• Understanding F/T dynamics during primary trocar insertion is vital for advancing robotic surgery.
• Optimizing robotic insertion parameters, such as low push force and high torque, can lead to reduced tissue trauma and shorter procedure times.
• This research provides foundational data for computer-assisted and robotic technologies aimed at improving trocar insertion safety and efficacy.