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A practical system for recording instrument interactions during live robotic surgery

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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.

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Acknowledgments

The authors thank Jamie Gewirtz and Paul Martin for their early work designing the sensor clips and circuit boards, and they thank the operating room staff for their cooperation with the OR recordings. This work was supported by the Pennsylvania Department of Health via Health Research Formula Funds, by the National Science Foundation via grant #IIS-0845670, by a Translational Research Award from the Coulter Foundation, and by the University of Pennsylvania.

Conflict of interest

David I. Lee, M.D. is a speaker for Intuitive Surgical, Inc. and Covidien. All other authors declare no conflict of interest.

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Authors and Affiliations

  1. Mechanical Engineering and Applied Mechanics Department, University of Pennsylvania, Philadelphia, PA, 19104, USA

    William McMahan, Karlin Bark, John C. Nappo, Eza I. Koch & Katherine J. Kuchenbecker

  2. Perelman School of Medicine, University of Pennsylvania, Philadelphia, PA, 19104, USA

    Ernest D. Gomez, Liting Chen, David I. Lee, Kristoffel R. Dumon & Noel N. Williams

Authors
  1. William McMahan
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  2. Ernest D. Gomez
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  3. Liting Chen
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  4. Karlin Bark
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  5. John C. Nappo
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  6. Eza I. Koch
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  7. David I. Lee
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  8. Kristoffel R. Dumon
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  9. Noel N. Williams
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  10. Katherine J. Kuchenbecker
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Corresponding author

Correspondence to William McMahan.

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McMahan, W., Gomez, E.D., Chen, L. et al. A practical system for recording instrument interactions during live robotic surgery. J Robotic Surg 7, 351–358 (2013). https://doi.org/10.1007/s11701-013-0399-y

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  • DOI: https://doi.org/10.1007/s11701-013-0399-y

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