McMahan William, Gomez Ernest D, Chen Liting, Bark Karlin, Nappo John C, Koch Eza I, Lee David I, Dumon Kristoffel R, Williams Noel N, Kuchenbecker Katherine J
Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA.
Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
J Robot Surg. 2013 Dec;7(4):351-8. doi: 10.1007/s11701-013-0399-y. Epub 2013 Apr 5.
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.
我们开发了一种系统，用于测量和记录高频振动，这些振动是微创机器人手术中器械相互作用的特征。该系统由简单的电路和一台DVD刻录机组成，成本低且易于实施，无需消毒，并且能够在模拟环境和手术室中测量经过验证的客观技术技能指标。通过将十四例袖状胃切除术的振动记录按手术分为七个阶段进行处理，并计算每个阶段内的均方根（RMS）振动。统计分析表明，观察到的差异与从手术知识得出的预期相符，证实了RMS振动可很好地衡量实时机器人手术中器械相互作用强度的前提。
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