Design and Evaluation of Haptic Constraints for Laparoscopic Instrument Handling

Nawal Ulhaq, Husam Wadi, Thomas Amlee, Diana Diesen, Ann Majewicz Fey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Learning and mastering laparoscopic skills is an involved and complicated process, especially in the case of pediatric surgery due to extremely fragile tissues and small spaces. Given these constraints, precise, controlled, and gentle laparoscopic tool motions are essential. Proper handling and ergonomics of laparoscopic tool handling are often overlooked when training novice surgeons. Novice surgeons tend to overgrip the tool, which may lead to applying excessive amounts of force and potential surgical complications. We have developed two constraint mechanisms to enable proper tool handling: one mechanism is a passive kinematic constraint which physically prevents the user from over-gripping the tool. The second mechanism operates under dynamic resistive control. An elastic silicone membrane, secured by a hard plastic clip to the finger loop of the laparoscopic tool, actively resists the user's overgrip. These constraint devices were tested in a series of human subject studies with novice learners. The resulting data shows a both a significant reduction in over-grip and overall task completion time when using the passive constraint. The left index, right middle, and right ring fingers are shown to have the least amount of over-grip, as well as the lowest time of non-contact with the tool, indicating the importance of these fingers for laparoscopic tool control.

Original languageEnglish (US)
Title of host publication40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages961-964
Number of pages4
ISBN (Electronic)9781538636466
DOIs
StatePublished - Oct 26 2018
Event40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States
Duration: Jul 18 2018Jul 21 2018

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2018-July
ISSN (Print)1557-170X

Other

Other40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
CountryUnited States
CityHonolulu
Period7/18/187/21/18

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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  • Cite this

    Ulhaq, N., Wadi, H., Amlee, T., Diesen, D., & Fey, A. M. (2018). Design and Evaluation of Haptic Constraints for Laparoscopic Instrument Handling. In 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 (pp. 961-964). [8512421] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2018.8512421