Hydrostatic Actuation for Remote Operations in MR Environment
Journal
IEEE/ASME Transactions on Mechatronics
Journal Volume
25
Journal Issue
2
Pages
894-905
Date Issued
2020
Author(s)
Abstract
A laparoscopic surgical training system, the LapaRobot, is introduced. The system is composed of an expert station and a trainee station connected through the Internet. Embedded actuators allow the trainee station to be driven by an expert surgeon so that a trainee learns proper technique through physical feedback. The surgical-tool trajectory and video feed can be recorded and later “played back” to a trainee to hone operative skills through guided repetition without the need for expert supervision. The system is designed to create a high-fidelity approximation of the intracorporeal workspace, incorporate commercially available surgical instruments, and provide a wealth of high-resolution data for quantitative analysis and feedback. Experimental evaluation demonstrated a 55% improvement in surgical performance with use of our system. In this paper, we introduce the details of the design and fabrication of the LapaRobot, illustrate the mechatronics and software-control schemes, and evaluate the system in a study. ? 2019 John Wiley & Sons, Ltd.
Subjects
Article
equipment design
feedback system
laparoscopic surgery
quantitative analysis
robot assisted surgery
surgical training
system analysis
telesurgery
biomechanics
clinical competence
computer simulation
education
human
laparoscopy
mentor
procedures
software
teaching
telemedicine
Biomechanical Phenomena
Clinical Competence
Computer Simulation
Computer-Assisted Instruction
Equipment Design
Humans
Laparoscopy
Mentors
Robotic Surgical Procedures
Software
Telemedicine
SDGs
Type
journal article