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Design and preliminary in vivo validation of a robotic laparoscope holder for minimally invasive surgery
Author(s) -
Herman Benoît,
Dehez Bruno,
Duy Khanh Tran,
Raucent Benoît,
Dombre Etienne,
Krut Sébastien
Publication year - 2009
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.263
Subject(s) - joystick , invasive surgery , computer science , imaging phantom , robotic surgery , medical physics , usability , laparoscopic surgery , teleoperation , robot , simulation , artificial intelligence , human–computer interaction , medicine , laparoscopy , surgery , radiology
Background Manual manipulation of the camera is a major source of difficulties encountered by surgeons while performing minimally invasive laparoscopic surgery. Methods A survey of laparoscopic procedures and a review of existing active and passive holders were conducted. Based on these analyses, essential requirements were highlighted for such devices. Pursuant to this, a novel active laparoscope manipulator was designed, paying particular attention to ergonomics and ease of use. Several trials on the pelvitrainer and a first in vivo procedure were performed to validate the original design of our device. Results Phantom experiments demonstrated ease of use of the robot and advantages of the intuitive joystick with omnidirectional displacements and speed control. The compactness of the device and image stability were appreciated during the surgical trial. Conclusions A novel robotic laparoscope holder has been developed and produced. An in vivo trial proved its value in clinical practice, enabling surgeons to work more comfortably. Copyright © 2009 John Wiley & Sons, Ltd.