title: A practical system for recording instrument interactions during live robotic surgery.
abstract: We have developed a system for measuring and recording the high-frequency vibrations that characterize instrument interactions during minimally invasive robotic surgery. Consisting of simple circuitry and a DVD recorder, this system is low-cost and easily implementable, requires no sterilization, and enables measurement of a validated, objective technical skill metric in both the simulated setting and the operating room. The vibration recordings of fourteen sleeve gastrectomies were processed by segmenting the operation into seven phases and calculating the root mean square (RMS) vibration within each phase. Statistical analysis showed that the observed differences match expectations drawn from knowledge of the operation, substantiating the premise that RMS vibration provides a good measure of the intensity of instrument interactions during live robotic surgery.
authors.affiliation: Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA. wmcmahan@seas.upenn.edu.
authors.forename: William
authors.initials: W
authors.lastname: McMahan
authors.affiliation: Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Ernest D
authors.initials: ED
authors.lastname: Gomez
authors.affiliation: Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Liting
authors.initials: L
authors.lastname: Chen
authors.affiliation: Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Karlin
authors.initials: K
authors.lastname: Bark
authors.affiliation: Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: John C
authors.initials: JC
authors.lastname: Nappo
authors.affiliation: Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Eza I
authors.initials: EI
authors.lastname: Koch
authors.affiliation: Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: David I
authors.initials: DI
authors.lastname: Lee
authors.affiliation: Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Kristoffel R
authors.initials: KR
authors.lastname: Dumon
authors.affiliation: Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Noel N
authors.initials: NN
authors.lastname: Williams
authors.affiliation: Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA.
authors.forename: Katherine J
authors.initials: KJ
authors.lastname: Kuchenbecker
keywords: Haptics; Instrument interactions; Robotic/instrumentation; Sensors; Technology assessment; Training; Vibrotactile feedback