title: Design and preliminary in vivo validation of a robotic laparoscope holder for minimally invasive surgery.
abstract: BACKGROUND
  Manual manipulation of the camera is a major source of difficulties encountered by surgeons while performing minimally invasive laparoscopic surgery.
  
  
  METHODS
  A survey of laparoscopic procedures and a review of existing active and passive holders were conducted. Based on these analyses, essential requirements were highlighted for such devices. Pursuant to this, a novel active laparoscope manipulator was designed, paying particular attention to ergonomics and ease of use. Several trials on the pelvitrainer and a first in vivo procedure were performed to validate the original design of our device.
  
  
  RESULTS
  Phantom experiments demonstrated ease of use of the robot and advantages of the intuitive joystick with omnidirectional displacements and speed control. The compactness of the device and image stability were appreciated during the surgical trial.
  
  
  CONCLUSIONS
  A novel robotic laparoscope holder has been developed and produced. An in vivo trial proved its value in clinical practice, enabling surgeons to work more comfortably.
authors.affiliation: Center for Research in Mechatronics, Université catholique de Louvain, Belgium. benoit.herman@uclouvain.be
authors.forename: Benoît
authors.initials: B
authors.lastname: Herman
authors.forename: Bruno
authors.initials: B
authors.lastname: Dehez
authors.forename: Khanh Tran
authors.initials: KT
authors.lastname: Duy
authors.forename: Benoît
authors.initials: B
authors.lastname: Raucent
authors.forename: Etienne
authors.initials: E
authors.lastname: Dombre
authors.forename: Sébastien
authors.initials: S
authors.lastname: Krut
mesh_terms: D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D020706:Laparoscopes; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D010865:Pilot Projects; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*