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http://hdl.handle.net/10397/106353
Title: | A collaborative robotic uterine positioning system for laparoscopic hysterectomy : design and experiments | Authors: | Yip, HM Wang, Z Navarro-Alarcon, D Li, P Cheung, TH Greiffenhagen, C Liu, YH |
Issue Date: | Aug-2020 | Source: | International journal of medical robotics and computer assisted surgery, Aug. 2020, v. 16, no. 4, e2103 | Abstract: | Background: Uterus manipulation is a lengthy and tedious task that is usually performed by a human assistant during laparoscopic hysterectomy. Note that the performance of the assistant may decrease with time. Moreover, under this approach, the primary surgeon does not have direct control over the uterus position. He/she can only verbally request the assistant to place it on a particular configuration. Methods: A robotic system composed of a 3 degrees-of-freedom uterine positioner is developed to assist in changing configuration of the uterus during laparoscopic hysterectomy. The developed system has a remote centre of motion structure; independently controlling the uterus motion with one joint at the time is allowed. Results: From the lab experiments, it is found that the robot shows better performance in retaining the uterus position and shows quicker response to the surgeon's instruction. Cadaver studies have been conducted to evaluate the feasibility of the robot. The robot was also applied to real patients in a clinical study. Conclusions: The robot is capable of assisting in uterus manipulation during laparoscopic hysterectomy. However, its user friendliness can be improved by simplifying the docking procedure. Furthermore, a more ergonomic user interface is desired. |
Keywords: | Hysterectomy Surgical manipulator Surgical robots Uterus manipulation |
Publisher: | John Wiley & Sons Ltd. | Journal: | International journal of medical robotics and computer assisted surgery | ISSN: | 1478-5951 | EISSN: | 1478-596X | DOI: | 10.1002/rcs.2103 | Rights: | © 2020 John Wiley & Sons, Ltd This is the peer reviewed version of the following article: Yip HM, Wang Z, Navarro-Alarcon D, et al. A collaborative robotic uterine positioning system for laparoscopic hysterectomy: Design and experiments. Int J Med Robotics Comput Assist Surg. 2020; 16:e2103, which has been published in final form at https://doi.org/10.1002/rcs.2103. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. This article may not be enhanced, enriched or otherwise transformed into a derivative work, without express permission from Wiley or by statutory rights under applicable legislation. Copyright notices must not be removed, obscured or modified. The article must be linked to Wiley’s version of record on Wiley Online Library and any embedding, framing or otherwise making available the article or pages thereof by third parties from platforms, services and websites other than Wiley Online Library must be prohibited. |
Appears in Collections: | Journal/Magazine Article |
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Yip_Collaborative_Robotic_Uterine.pdf | Pre-Published version | 314.57 kB | Adobe PDF | View/Open |
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