1561 KINEMATIC ANALYSIS OF MOTOR PERFORMANCE IN ROBOT-ASSISTED SURGERY: IMPLICATIONS FOR ROBOT DESIGN AND SURGICAL TRAINING Academic Article uri icon

abstract

  • METHODS To measure the effects of master manipulator dynamics on trainees and attendings, a da Vinci SI system was instrumented with a custom surgeon grip fixture and magnetic pose trackers (Fig 1A-B, E). Study subjects made consecutive movements towards various targets. Study subjects performed the experiment freehand, holding the fixture (Fig 1B) but detached from the master manipulator, as well as via teleoperation (fixture attached to master manipulator). To provide consistent visual feedback in all trials, the position of the fixture was shown as a cursor on a monitor that was placed on the surgical table and presented to the user via the endoscopic camera (ie, the actual patient-side instrument tip was not visible)(Fig 1C-D). However, in the teleoperated setting, the master manipulator did control the movement of the non-visible patient-side instrument tip, and therefore the …

publication date

  • April 1, 2013