Abstract
Advances in technique and instrumentation have enabled surgeons to perform a growing array of procedures through laparoscopy. However, these efforts have often been compromised by exerting excessive forces during retraction of the structures necessary for anatomical view. Here, we present a comparative study of human and robotic performance in force controlled organ retraction during laparoscopic Nissen fundoplication (LNF). Six female pigs (20-25 kg) were anesthetized, intubated, placed on mechanical ventilation, and pneumoperitoneum (13mm Hg CO2) was established. A force sensing retractor (FSR) was constructed to record the forces applied in retracting the stomach during dissection of the esophageal hiatus (EH). The FSR was calibrated using known forces and then operated by either human alone or robot under human guidance using the FSR data. The EH was visualized, dissected, and LNF completed. Less force was utilized with robotic (74. 3±10. 5 grams) versus human (108. 9±34. 3 grams) retraction (p=0. 007) to obtain proper anatomical view of the EH. No significant differences were observed for retraction setup time (robot 14. 3±0. 8 minutes and human 13. 7±9. 9 minutes) or hiatal dissection time (robot 14. 0±3. 0 minutes and human 14. 0±6. 1 minutes). These preliminary results present our continuing effort to develop and evaluate an automated surgical assistant for laparoscopy. As increasingly advanced, personnel-intensive laparoscopic procedures are performed, robotic retraction may present a superior alternative to human retraction by minimizing the forces exerted on organs yet maintaining excellent anatomical view.
| Original language | English (US) |
|---|---|
| Title of host publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Publisher | Springer Verlag |
| Pages | 197-206 |
| Number of pages | 10 |
| Volume | 1496 |
| ISBN (Print) | 3540651365, 9783540651369 |
| State | Published - 1998 |
| Event | 1st International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1998 - Cambridge, United States Duration: Oct 11 1998 → Oct 13 1998 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 1496 |
| ISSN (Print) | 03029743 |
| ISSN (Electronic) | 16113349 |
Other
| Other | 1st International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1998 |
|---|---|
| Country | United States |
| City | Cambridge |
| Period | 10/11/98 → 10/13/98 |
Fingerprint
ASJC Scopus subject areas
- Computer Science(all)
- Theoretical Computer Science
Cite this
Human versus robotic organ retraction during laparoscopic nissen fundoplication. / Poulose, Benjamin; Kutka, Michael; Mendoza-Sagaon, Mario; Barnes, Aaron; Yang, Calvin; Taylor, Russell H; Talamini, Mark.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1496 Springer Verlag, 1998. p. 197-206 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1496).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Human versus robotic organ retraction during laparoscopic nissen fundoplication
AU - Poulose, Benjamin
AU - Kutka, Michael
AU - Mendoza-Sagaon, Mario
AU - Barnes, Aaron
AU - Yang, Calvin
AU - Taylor, Russell H
AU - Talamini, Mark
PY - 1998
Y1 - 1998
N2 - Advances in technique and instrumentation have enabled surgeons to perform a growing array of procedures through laparoscopy. However, these efforts have often been compromised by exerting excessive forces during retraction of the structures necessary for anatomical view. Here, we present a comparative study of human and robotic performance in force controlled organ retraction during laparoscopic Nissen fundoplication (LNF). Six female pigs (20-25 kg) were anesthetized, intubated, placed on mechanical ventilation, and pneumoperitoneum (13mm Hg CO2) was established. A force sensing retractor (FSR) was constructed to record the forces applied in retracting the stomach during dissection of the esophageal hiatus (EH). The FSR was calibrated using known forces and then operated by either human alone or robot under human guidance using the FSR data. The EH was visualized, dissected, and LNF completed. Less force was utilized with robotic (74. 3±10. 5 grams) versus human (108. 9±34. 3 grams) retraction (p=0. 007) to obtain proper anatomical view of the EH. No significant differences were observed for retraction setup time (robot 14. 3±0. 8 minutes and human 13. 7±9. 9 minutes) or hiatal dissection time (robot 14. 0±3. 0 minutes and human 14. 0±6. 1 minutes). These preliminary results present our continuing effort to develop and evaluate an automated surgical assistant for laparoscopy. As increasingly advanced, personnel-intensive laparoscopic procedures are performed, robotic retraction may present a superior alternative to human retraction by minimizing the forces exerted on organs yet maintaining excellent anatomical view.
AB - Advances in technique and instrumentation have enabled surgeons to perform a growing array of procedures through laparoscopy. However, these efforts have often been compromised by exerting excessive forces during retraction of the structures necessary for anatomical view. Here, we present a comparative study of human and robotic performance in force controlled organ retraction during laparoscopic Nissen fundoplication (LNF). Six female pigs (20-25 kg) were anesthetized, intubated, placed on mechanical ventilation, and pneumoperitoneum (13mm Hg CO2) was established. A force sensing retractor (FSR) was constructed to record the forces applied in retracting the stomach during dissection of the esophageal hiatus (EH). The FSR was calibrated using known forces and then operated by either human alone or robot under human guidance using the FSR data. The EH was visualized, dissected, and LNF completed. Less force was utilized with robotic (74. 3±10. 5 grams) versus human (108. 9±34. 3 grams) retraction (p=0. 007) to obtain proper anatomical view of the EH. No significant differences were observed for retraction setup time (robot 14. 3±0. 8 minutes and human 13. 7±9. 9 minutes) or hiatal dissection time (robot 14. 0±3. 0 minutes and human 14. 0±6. 1 minutes). These preliminary results present our continuing effort to develop and evaluate an automated surgical assistant for laparoscopy. As increasingly advanced, personnel-intensive laparoscopic procedures are performed, robotic retraction may present a superior alternative to human retraction by minimizing the forces exerted on organs yet maintaining excellent anatomical view.
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M3 - Conference contribution
AN - SCOPUS:84947792973
SN - 3540651365
SN - 9783540651369
VL - 1496
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 197
EP - 206
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PB - Springer Verlag
ER -