Postural mechatronic assistant for laparoscopic solo surgery (PMASS).
OBJECTIVE
Laparoscopes used in laparoscopic surgery are manipulated by human means, passive systems or robotic systems. All three methods accumulate downtime when the laparoscope is cleaned and the optical perspective is adjusted. This work proposes a new navigation system that autonomously handles the laparoscope, with a view to reducing latency, and that allows real-time adjustment of the visual perspective.


METHODS
The system designed is an intuitive mechatronic system with three degrees of freedom and a single active articulation. The system uses the point of insertion as the invariant point for navigation and has a work space that closely resembles an inverted cone.


RESULTS
The mechatronic system has been tested in a physical trainer, cutting and suturing chicken parts, as well as in laparoscopic ovariohysterectomies in dogs and pediatric surgeries. In all the procedures, surgeons were able to auto-navigate and there was no visual tremor while using the system. Surgeons performed visual approaches in real time and had both hands free to carry out the procedure.


CONCLUSIONS
This new mechatronic system allows surgeons to perform solo surgery. Cleaning and positioning downtime are reduced, since it is the surgeon him/herself who handles the optics and selects the best visual perspective for the surgery.
Departamento de Eléctrica Sección Bioelectrónica, CINVESTAV IPN, Mexico, DF, Mexico.
Arturo
A
Minor Martinez
Jesús
J
Villalobos Gomez
Ricardo
R
Ordorica Flores
Daniel
D
Lorias Espinoza
D000818:Animals; D004867:Equipment Design; D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy / Q000379:methods*; D011187:Posture / Q000502:physiology*; D013647:Task Performance and Analysis; D013673:Technology Assessment, Biomedical