An articulated handle to improve the ergonomic performance of robotic dextrous instruments for laparoscopic surgery

Herman, Benoît; Devreker, Alain; Richer, Florian; Zahraee, Ali Hassan; Szewczyk, Jérôme

doi:10.5194/ms-5-21-2014

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…This locking mechanism enables the temporal fixation of all cables at once, thereby locking the shape of both joystick and tip. This would potentially allow the surgeon to release the joystick for doing other tasks during the procedure [19,51,52].…”

Section: Helixflex Prototypementioning

confidence: 99%

HelixFlex : bioinspired maneuverable instrument for skull base surgery

et al. 2015

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Endoscopic endonasal surgery is currently regarded as the 'gold standard' for operating on pituitary gland tumors, and is becoming more and more accepted for treatment of other skull base lesions. However, endoscopic surgical treatment of most skull base pathologies, including certain pituitary tumors, is severely impaired by current instruments lack of maneuverability. Especially, gaining access to, and visibility of, difficult-to-reach anatomical corners without interference with surrounding neurovascular structures or other instruments, is a challenge. In this context there is the need for instruments that are able to provide a stable shaft position, while both the orientation and the position of the end-effector can be independently controlled. Current instruments that allow for this level of maneuverability are usually mechanically complex, and hence less suitable for mass production. This study therefore focuses on the development of a new actuation technique that allows for the required maneuverability while reducing the construction complexity. This actuation technique, referred to as multi-actuation, integrates multiple cable routings into a single steerable structure. Multi-actuation has been successfully integrated and tested in a handheld prototype instrument called HelixFlex. HelixFlex contains a 4 degrees of freedom maneuverable 5.8 mm (diameter) tip and shows promising results concerning its maneuverability and potential rigidity.

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Section: Helixflex Prototypementioning

confidence: 99%

HelixFlex : bioinspired maneuverable instrument for skull base surgery

et al. 2015

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“…The position and type of the redundant joint were chosen based on anthropometric data and an isotropic performance analysis. There have already been some studies in which a redundant joint has been applied to the surgical instrument handle 14,15 . However, the proposed master device is designed to operate a teleoperated four‐DOFs flexible slave device (an overtube and surgical instruments) whereas the previous surgical instrument handles were designed to operate a rigid laparoscopic surgical instrument, that is, manually operated.…”

Section: Introductionmentioning

confidence: 99%

A highly intuitive and ergonomic redundant joint master device for four‐degrees of freedom flexible endoscopic surgery robot

Ahn

Kim

Lee

et al. 2020

Robotics Computer Surgery

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Background Studies have been conducted on slave‐specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four‐degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance. Methods To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four‐DOFs slave‐specific and six‐DOFs general‐purpose master devices. Results Significant differences were observed in terms of intuitiveness performance between the slave‐specific and the general‐purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint. Conclusions Compared with a general‐purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance.

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“…Other than the above discussed literature, some of the research articles discussed about ergonomic design and evaluation of laparoscopic surgical tools to reduce high pressure areas, muscle strain, and also to increase contact area between hand and the instruments (Sancibrian et al, 2014;Shimomura et al, 2015;Shimomura et al, 2016). Focusing further, researchers also reported based on the ergonomic evaluation of laparoscopic surgical instruments that reduction in pressure points, eliminating uncomfortable body postures and smaller wrist flexion can lessen the discomfort experienced by surgeons (Matern et al, 2005;Herring et al, 2010;Herman et al, 2014). Furthermore, other studies stressed the significance of exploring capabilities of additive manufacturing technology for fabricating customized and ergonomically designed laparoscopic surgical instruments (Kondor et al, 2013;Rankin et al, 2014;Yamamoto et al, 2015;Sancibrian et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Individual customization strategy accomplished by developing prototype of a laparoscopic forceps handle using additive manufacturing

Sreekanth¹,

Ranganathan²,

Pugalendhi³

2020

RPJ

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Purpose Laparoscopic surgeons suffer because of discomfited body posture while performing surgery and experience discomfort owing to lack of customized surgical instruments. Accordingly, this paper aims to recommend an individual customization strategy by developing an ergonomically designed laparoscopic forceps handle and thereby increase the comfort of surgeons. Design/methodology/approach Hand anthropometric parameters of 282 south Indian male subjects are used to customize the handle. uPrint and Objet260 Connex, which works based on fused deposition modeling and PolyJet, respectively, are used to fabricate the prototype of the handle. Design modifications include a pistol-type grip, the increased contact area between the hand and handle, and neutral wrist posture. Findings Ergonomic evaluation parameters such as grip, functionality, comfort and wrist posture using subjective ratings from laparoscopic surgeons were recorded and obtained average values of 4.1, 3.6, 4.1 and 4.1, respectively, based on a five-point ordinal scale. Additionally, stress analysis also confirms the safety of the handle based on von Mises stress criteria. Research limitations/implications Anthropometric data are limited to 282 subjects and subjective evaluation is conducted using a prototype, not the end-use product. Originality/value Evaluation using subjective rating confirms the ascendancy of a modified handle over the existing handle in terms of assessed parameters. The proposed individual customization strategy can be applied for other industrial hand tools to enhance comfort.

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An articulated handle to improve the ergonomic performance of robotic dextrous instruments for laparoscopic surgery

Cited by 3 publications

References 21 publications

HelixFlex : bioinspired maneuverable instrument for skull base surgery

HelixFlex : bioinspired maneuverable instrument for skull base surgery

A highly intuitive and ergonomic redundant joint master device for four‐degrees of freedom flexible endoscopic surgery robot

Individual customization strategy accomplished by developing prototype of a laparoscopic forceps handle using additive manufacturing

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