Brown Jeffrey D, Rosen Jacob, Chang Lily, Sinanan Mika N, Hannaford Blake
Department of Bioengineering, University of Washington, Seattle, WA 98195-2500, USA.
Stud Health Technol Inform. 2004;98:34-6.
Mechanical testing of abdominal organs has a profound impact on surgical simulation and surgical robotics development. Due to the nonlinear and viscoelastic nature of soft tissue it is crucial to test them in surgically relevant ranges of applied force, deformation, and duration for incorporating haptic realism into surgical simulators and for safe operation of surgical robots. In order to determine these ranges, a system known as the Blue DRAGON was used to track the motions and the forces applied to surgical tools during live procedures for quantifying how surgeons typically perform a minimally invasive surgical procedure. Thirty-one surgeons of varying skill were recorded performing three different surgical tasks. Grasping force (as applied to the tool handles) and handle angle for each tool were the signals of interest among 26 channels total acquired by the system in real time. These data were analyzed for their magnitudes and frequency content. Using the tool contact state, an algorithm selected tissue grasps to analyze measures during grasps only, as well as obtain grasp durations. The mean force applied to the tool handles during tissue grasps was 8.52 N +/- 2.77 N; maximum force was 68.17 N. Ninety-five percent of the handle angle frequency content was below 1.98 Hz +/- 0.98 Hz. Average grasp time was 2.29 s +/- 1.65 s, and 95% of all grasps were held for 8.86 s +/- 7.06 s or less. The average maximum grasp time during these tasks was 13.37 s +/- 11.42 s. These results form the basis for determining how abdominal tissues are to be mechanically tested in ranges and durations of force and deformation that are surgically realistic. Additionally, this information may serve as design specifications for new surgical robots or haptic simulators.
腹部器官的力学测试对手术模拟和手术机器人的发展有着深远影响。由于软组织具有非线性和粘弹性的特性，在与手术相关的作用力、变形和持续时间范围内对其进行测试至关重要，这对于将触觉真实感融入手术模拟器以及手术机器人的安全操作都很关键。为了确定这些范围，使用了一种名为Blue DRAGON的系统来跟踪实时手术过程中施加在手术工具上的运动和力，以量化外科医生通常如何进行微创手术。记录了31名技能水平各异的外科医生执行三种不同的手术任务。在系统实时采集的总共26个通道中，每个工具的抓握力（施加在工具手柄上）和手柄角度是感兴趣的信号。对这些数据的大小和频率成分进行了分析。利用工具接触状态，一种算法仅选择组织抓握动作来分析抓握过程中的测量值，并获取抓握持续时间。组织抓握过程中施加在工具手柄上的平均力为8.52 N±2.77 N；最大力为68.17 N。手柄角度频率成分的95%低于1.98 Hz±0.98 Hz。平均抓握时间为2.29 s±1.65 s，所有抓握动作的95%保持时间为8.86 s±7.06 s或更短。这些任务期间的平均最大抓握时间为13.37 s±11.42 s。这些结果为确定如何在手术现实的力和变形范围及持续时间内对腹部组织进行力学测试奠定了基础。此外，这些信息可作为新手术机器人或触觉模拟器的设计规范。
