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Special Section Technical Briefs

Measurement of the Range of Motion of Laparoscopic Instruments Based on an Optical Tracking System1

[+] Author and Article Information
Kunyong Lu, Liaoyuan Ai

Shanghai Institute for Minimally Invasive Therapy,
School of Medical Instrument and Food Engineering,
University of Shanghai for Science and Technology,
Yangpu, Shanghai 200093, China

Chengli Song

Shanghai Institute for Minimally Invasive Therapy,
School of Medical Instrument and Food Engineering,
University of Shanghai for Science and Technology,
Yangpu, Shanghai 200093, China
e-mail: csong@usst.edu.cn

Lixiao Yang

Changhai Hospital,
Second Military Medical University,
Yangpu, Shanghai 200093, China

Qin Shi

Shanghai Institute for Minimally Invasive Therapy,
School of Medical Instrument and Food Engineering,
University of Shanghai for Science and Technology
Yangpu, Shanghai 200093, China

2Corresponding author.

DOI: 10.1115/1.4033168Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020912 (May 12, 2016) (2 pages) Paper No: MED-16-1142; doi: 10.1115/1.4033168 History: Received March 01, 2016; Revised March 17, 2016

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References

Melzer, A. , Kipfmuller, K. , and Halfar, B. , 1997, “ Deflectable Endoscopic Instrument System DENIS,” Surg. Endoscopy, 11(10), pp. 1045–1051. [CrossRef]
Ma, R. , Wu, D. , Yan, Z. , Du, Z. , and Li, G. , 2010, “ Research and Development of Micro-Instrument for Laparoscopic Minimally Invasive Surgical Robotic System,” IEEE International Conference on Robotics and Biomimetics (ROBIO), Tianjin, China, Dec. 14–18, pp. 1223–1228.
Oropesa, I. , Sanchez-Gonzalez, P. , Lamata, P. , Chmarra, M. K. , Pagador, J. B. , Sanchez-Margallo, J. A. , Sanchez-Margallo, F. M. , and Gomez, E. J. , 2011, “ Methods and Tools for Objective Assessment of Psychomotor Skills in Laparoscopic Surgery,” J. Surg. Res., 171(1), pp. e81–95. [CrossRef] [PubMed]
Chmarra, M. K. , Grimbergen, C. A. , and Dankelman, J. , 2007, “ Systems for Tracking Minimally Invasive Surgical Instruments,” Minimal Invasive Ther. Allied Technol., 16(6), pp. 328–340. [CrossRef]
Romanelli, J. R. , and Earle, D. B. , 2009, “ Single-Port Laparoscopic Surgery: An Overview,” Surg. Endoscopy, 23(7), pp. 1419–1427. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Experimental setup: (a) laparoscopic training box and optical tracking system and (b) laparoscopic instrument with markers

Grahic Jump Location
Fig. 2

Coordinate system on the training box

Grahic Jump Location
Fig. 3

The shape of the measured space

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