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Overshooting of trocar insertion in laparoscopic surgery has been extensively cited as a major cause of surgical injuries. Besides, the complexity and large insertion force of the current handheld insertion method also increase the risk of overshooting and difficulty for novices or female operators. Hence, we developed this trocar insertion device to make trocar insertion easier and safer. The device is designed easy to handle and trocar-assembling. And we used negative pressure and pneumatic cylinders to lift the abdominal wall and two motors to drive the trocar insertion. In addition, we interpreted the characteristics of insertion force and proposed an algorithm to detect whether it has penetrated out. With this algorithm the device can stop inserting automatically and immediately. The development of this device realized the automation of trocar insertion. It reduced the demand for operators and improved the safety of this procedure.

A Novel Device for Safe Trocar Insertion in Laparoscopic Surgery Based on the Insertion Force Characteristics