title: Load evaluation of the da Vinci surgical system for transoral robotic surgery.
abstract: Transoral robotic surgery, performed with the da Vinci surgical system (da Vinci), is a surgical approach for benign and malignant lesions of the oral cavity and laryngopharynx. It provides several unique advantages, which include a 3-dimensional magnified view and ability to see and work around curves or angles. However, the current da Vinci surgical system does not provide haptic feedback. This is problematic because the potential risks specific to the transoral use of the da Vinci include tooth injury, mucosal laceration, ocular injury and mandibular fracture. To assess the potential for intraoperative injuries, we measured the load of the endoscope and the instrument of the da Vinci Si surgical system. We pressed the endoscope and instrument of the da Vinci Si against Load cell six times each and measured the dynamic load and the time-to-maximum load. We also struck the da Vinci Si endoscope and instrument against the Load cell six times each and measured the impact load. The maximum dynamic load was 7.27 ± 1.31 kg for the endoscope and 1.90 ± 0.72 for the instrument. The corresponding time-to-maximum loads were 1.72 ± 0.22 and 1.29 ± 0.34 s, but the impact loads were significantly lower than the dynamic load. It remains possible that a major load is exerted on adjacent structures by continuous contact with the endoscope and instrument of da Vinci Si. However, there is a minor delay in reaching the maximum load. Careful monitoring by an on-site assistant may, therefore, help prevent contiguous injury.
authors.affiliation: Department of Otolaryngology, Head and Neck Surgery, Faculty of Medicine, Tottori University, 36-1, Nishimachi, Yonago, 683-8504, Japan. kfujiwa@med.tottori-u.ac.jp.
authors.forename: Kazunori
authors.initials: K
authors.lastname: Fujiwara
authors.affiliation: Department of Otolaryngology, Head and Neck Surgery, Faculty of Medicine, Tottori University, 36-1, Nishimachi, Yonago, 683-8504, Japan.
authors.forename: Takahiro
authors.initials: T
authors.lastname: Fukuhara
authors.affiliation: Mechanical Engineering Division, Mechanical and Material Research Facility, Tottori Institute of Industrial Technology, Yonago, Japan.
authors.forename: Koji
authors.initials: K
authors.lastname: Niimi
authors.affiliation: Mechanical Engineering Division, Mechanical and Material Research Facility, Tottori Institute of Industrial Technology, Yonago, Japan.
authors.forename: Takahiro
authors.initials: T
authors.lastname: Sato
authors.affiliation: Department of Otolaryngology, Head and Neck Surgery, Faculty of Medicine, Tottori University, 36-1, Nishimachi, Yonago, 683-8504, Japan.
authors.forename: Hiroya
authors.initials: H
authors.lastname: Kitano
mesh_terms: D019723:Endoscopes; D019544:Equipment Failure Analysis; D006801:Humans; D007431:Intraoperative Complications; D015233:Models, Statistical; D009055:Mouth / Q000601:surgery*; D065287:Robotic Surgical Procedures / Q000009:adverse effects* / Q000379:methods*
keywords: Intraoperative injury; Load; Transoral robotic surgery; da Vinci