A practical system for recording instrument interactions during live robotic surgery

William McMahan; Ernest D. Gomez; Liting Chen; Karlin Bark; John C. Nappo; Eza I. Koch; David I. Lee; Kristoffel R. Dumon; Noel N. Williams; Katherine J. Kuchenbecker

doi:10.1007/s11701-013-0399-y

A practical system for recording instrument interactions during live robotic surgery

William McMahan^*, Ernest D. Gomez, Liting Chen, Karlin Bark, John C. Nappo, Eza I. Koch, David I. Lee, Kristoffel R. Dumon, Noel N. Williams, Katherine J. Kuchenbecker

^*Corresponding author for this work

Anesthesiology

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

We have developed a system for measuring and recording the high-frequency vibrations that characterize instrument interactions during minimally invasive robotic surgery. Consisting of simple circuitry and a DVD recorder, this system is low-cost and easily implementable, requires no sterilization, and enables measurement of a validated, objective technical skill metric in both the simulated setting and the operating room. The vibration recordings of fourteen sleeve gastrectomies were processed by segmenting the operation into seven phases and calculating the root mean square (RMS) vibration within each phase. Statistical analysis showed that the observed differences match expectations drawn from knowledge of the operation, substantiating the premise that RMS vibration provides a good measure of the intensity of instrument interactions during live robotic surgery.

Original language	English (US)
Pages (from-to)	351-358
Number of pages	8
Journal	Journal of Robotic Surgery
Volume	7
Issue number	4
DOIs	https://doi.org/10.1007/s11701-013-0399-y
State	Published - Dec 2013

Funding

Acknowledgments The authors thank Jamie Gewirtz and Paul Martin for their early work designing the sensor clips and circuit boards, and they thank the operating room staff for their cooperation with the OR recordings. This work was supported by the Pennsylvania Department of Health via Health Research Formula Funds, by the National Science Foundation via grant #IIS-0845670, by a Translational Research Award from the Coulter Foundation, and by the University of Pennsylvania.

Keywords

Haptics
Instrument interactions
Robotic/instrumentation
Sensors
Technology assessment
Training
Vibrotactile feedback

ASJC Scopus subject areas

Health Informatics
Surgery

Access to Document

10.1007/s11701-013-0399-y

Cite this

@article{c2535f151db44077a9f32f19c29f9018,

title = "A practical system for recording instrument interactions during live robotic surgery",

abstract = "We have developed a system for measuring and recording the high-frequency vibrations that characterize instrument interactions during minimally invasive robotic surgery. Consisting of simple circuitry and a DVD recorder, this system is low-cost and easily implementable, requires no sterilization, and enables measurement of a validated, objective technical skill metric in both the simulated setting and the operating room. The vibration recordings of fourteen sleeve gastrectomies were processed by segmenting the operation into seven phases and calculating the root mean square (RMS) vibration within each phase. Statistical analysis showed that the observed differences match expectations drawn from knowledge of the operation, substantiating the premise that RMS vibration provides a good measure of the intensity of instrument interactions during live robotic surgery.",

keywords = "Haptics, Instrument interactions, Robotic/instrumentation, Sensors, Technology assessment, Training, Vibrotactile feedback",

author = "William McMahan and Gomez, {Ernest D.} and Liting Chen and Karlin Bark and Nappo, {John C.} and Koch, {Eza I.} and Lee, {David I.} and Dumon, {Kristoffel R.} and Williams, {Noel N.} and Kuchenbecker, {Katherine J.}",

note = "Funding Information: Acknowledgments The authors thank Jamie Gewirtz and Paul Martin for their early work designing the sensor clips and circuit boards, and they thank the operating room staff for their cooperation with the OR recordings. This work was supported by the Pennsylvania Department of Health via Health Research Formula Funds, by the National Science Foundation via grant #IIS-0845670, by a Translational Research Award from the Coulter Foundation, and by the University of Pennsylvania.",

year = "2013",

month = dec,

doi = "10.1007/s11701-013-0399-y",

language = "English (US)",

volume = "7",

pages = "351--358",

journal = "Journal of Robotic Surgery",

issn = "1863-2483",

publisher = "Springer London",

number = "4",

}

TY - JOUR

T1 - A practical system for recording instrument interactions during live robotic surgery

AU - McMahan, William

AU - Gomez, Ernest D.

AU - Chen, Liting

AU - Bark, Karlin

AU - Nappo, John C.

AU - Koch, Eza I.

AU - Lee, David I.

AU - Dumon, Kristoffel R.

AU - Williams, Noel N.

AU - Kuchenbecker, Katherine J.

N1 - Funding Information: Acknowledgments The authors thank Jamie Gewirtz and Paul Martin for their early work designing the sensor clips and circuit boards, and they thank the operating room staff for their cooperation with the OR recordings. This work was supported by the Pennsylvania Department of Health via Health Research Formula Funds, by the National Science Foundation via grant #IIS-0845670, by a Translational Research Award from the Coulter Foundation, and by the University of Pennsylvania.

PY - 2013/12

Y1 - 2013/12

N2 - We have developed a system for measuring and recording the high-frequency vibrations that characterize instrument interactions during minimally invasive robotic surgery. Consisting of simple circuitry and a DVD recorder, this system is low-cost and easily implementable, requires no sterilization, and enables measurement of a validated, objective technical skill metric in both the simulated setting and the operating room. The vibration recordings of fourteen sleeve gastrectomies were processed by segmenting the operation into seven phases and calculating the root mean square (RMS) vibration within each phase. Statistical analysis showed that the observed differences match expectations drawn from knowledge of the operation, substantiating the premise that RMS vibration provides a good measure of the intensity of instrument interactions during live robotic surgery.

AB - We have developed a system for measuring and recording the high-frequency vibrations that characterize instrument interactions during minimally invasive robotic surgery. Consisting of simple circuitry and a DVD recorder, this system is low-cost and easily implementable, requires no sterilization, and enables measurement of a validated, objective technical skill metric in both the simulated setting and the operating room. The vibration recordings of fourteen sleeve gastrectomies were processed by segmenting the operation into seven phases and calculating the root mean square (RMS) vibration within each phase. Statistical analysis showed that the observed differences match expectations drawn from knowledge of the operation, substantiating the premise that RMS vibration provides a good measure of the intensity of instrument interactions during live robotic surgery.

KW - Haptics

KW - Instrument interactions

KW - Robotic/instrumentation

KW - Sensors

KW - Technology assessment

KW - Training

KW - Vibrotactile feedback

UR - http://www.scopus.com/inward/record.url?scp=84888287410&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84888287410&partnerID=8YFLogxK

U2 - 10.1007/s11701-013-0399-y

DO - 10.1007/s11701-013-0399-y

M3 - Article

C2 - 27001874

AN - SCOPUS:84888287410

SN - 1863-2483

VL - 7

SP - 351

EP - 358

JO - Journal of Robotic Surgery

JF - Journal of Robotic Surgery

IS - 4

ER -

A practical system for recording instrument interactions during live robotic surgery

Abstract

Funding

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this