Technical Brief

Feasibility of a Low-Cost Instrumented Trocar for Universal Surgical Procedure Analyses1

[+] Author and Article Information
Jalal Rana, Timothy Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
111 Church Street SE,
Minneapolis, MN 55455

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014.DOI: 10.1115/1.4027081

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030936 (Jul 21, 2014) (2 pages) Paper No: MED-14-1087; doi: 10.1115/1.4027081 History: Received February 21, 2014; Revised March 03, 2014

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Copyright © 2014 by ASME
Topics: Surgery
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Chmarra, M. K., Grimbergen, C. A., and Dankelman, J., 2007, “Systems for Tracking Minim. Invasive Surgical Instruments,” Minimally Invasive Ther. Allied Technol., 16(6), pp. 328–340. [CrossRef]
Reiley, C. E., Lin, H. C., Yuh, D. D., and Hager, G. D., 2001, “Review of Methods for Objective Surgical Skill Evaluation,” Surg. Endosc., 25(2), pp. 356–366. [CrossRef]
Datta, V., Chang, A., Mackay, S., and Darzi, A., 2002, “The Relationship Between Motion Analysis and Surgical Technical Assessments,” Am. J. Surg., 184(1), pp. 70–73. [CrossRef] [PubMed]
Hogan, N., 1984, “Adaptive Control of Mechanical Impedance by Coactivation of Antagonist Muscles,” IEEE Trans. Autom. Control, 29(8), pp. 681–690. [CrossRef]


Grahic Jump Location
Fig. 1

Trocar clip (left) and tool clip (middle and right)

Grahic Jump Location
Fig. 2

EDGE laparoscopic tracking system (left) and peg transfer task close-up (right)

Grahic Jump Location
Fig. 3

3D path of a single reference block trace given by EDGE (left) and the IMU (right)

Grahic Jump Location
Fig. 4

Jerk and FLS score from both hands for full task

Grahic Jump Location
Fig. 5

Jerk and FLS score from both hands for first 45 s of the task



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