caa a22 4500 467946507 CHVBK 20180405193737.0 cr unu---uuuuu 170328e20041101xx s 000 0 eng 10.1007/s00464-003-9196-4 doi (NATIONALLICENCE)springer-10.1007/s00464-003-9196-4 (NATIONALLICENCE)springer-10.1007/BF02637138 In vivo kinematic measurement during laparoscopic cholecystectomy [Elektronische Daten] [M. Rasmus, R. Riener, S. Reiter, A. Schneider, H. Feussner] Background: Despite the rapid development of computer-assisted surgery, studies on kinematic measurement for surgical innovation are rare. This study describes a system for kinematic measurement in real operating theater environments. Six laparoscopic cholecystectomies were recorded and analyzed. In addition to a demonstration of the feasibility of the method, basis data for the development of an actuated laparoscopic camera holder are evaluated. Methods: The positions of four receivers were recorded by an electromagnetic motion acquisition system. Analysis of the data was performed postoperatively with matlab. Parameters such as coordinates, velocities, angles, angular velocities, workspaces in typical phases of an operation, and subareas of the coordinate ranges were computed. Results: The workspace during the operation in situ before (II) and after (V) removal of the gallbladder at the upper camera end was as follows: (X, Y, Z; given in cm): II: 65.5 · 42.7 · 27.3 (subarea 90% = 8.3· 14.0·6.3); V: 57.4·33.3·26.2, (90% = 10.3·16.5·7.9). Workspaces at the lower camera end were smaller: II: 14.8·9.7·15.4; (90% = 3.5·3.1·4.3). During these operation phases, velocities up to 82.9 cm/s were documented. Most of the measured velocities were much smaller. The camera -tilt-angles in left/right (αx) and head/ feet (αy) direction were as follows: αx: -69° to +69° and αy: -74° to +48°. Conclusion: This study demonstrates the feasibility of real-time kinematic measurement in the operation environment. The information might be of future value not only as basis data for the development of camera holders, but also for further investigations on robotics, ergonomics, and simulation. Springer-Verlag, 2004 Robotics nationallicence Kinematic measurement nationallicence Motion analysis nationallicence Laparoscopic surgery nationallicence In vivo measurements nationallicence Computer-assisted surgery nationallicence Rasmus M. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut Riener R. Institute of Automatic Control Engineering, Technical University of Munich, 81675, Munich, Germany aut Reiter S. Institute of Automatic Control Engineering, Technical University of Munich, 81675, Munich, Germany aut Schneider A. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut Feussner H. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut Surgical Endoscopy And Other Interventional Techniques Springer-Verlag; www.springer-ny.com 18/11(2004-11-01), 1649-1656 0930-2794 18:11<1649 2004 18 464 https://doi.org/10.1007/s00464-003-9196-4 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00464-003-9196-4 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Rasmus M. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 700 1- Schneider A. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 700 1- Feussner H. Minimally Invasive Therapy and Intervention - Research Group, Klinikum Rechts der Isar, Technical University of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 773 0- Surgical Endoscopy And Other Interventional Techniques Springer-Verlag; www.springer-ny.com 18/11(2004-11-01), 1649-1656 0930-2794 18:11<1649 2004 18 464 NATIONALLICENCE 700 1- Riener R. Institute of Automatic Control Engineering, Technical University of Munich, 81675, Munich, Germany aut NATIONALLICENCE 700 1- Reiter S. Institute of Automatic Control Engineering, Technical University of Munich, 81675, Munich, Germany aut NATIONALLICENCE 856 40 https://doi.org/10.1007/BF02637138 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Rasmus M. Minimally Invasive Therapy and Intervention—Research Group, Klinikum Rechts der Isar, Technical Univeristy of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 700 1- Schneider A. Minimally Invasive Therapy and Intervention—Research Group, Klinikum Rechts der Isar, Technical Univeristy of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 700 1- Feussner H. Minimally Invasive Therapy and Intervention—Research Group, Klinikum Rechts der Isar, Technical Univeristy of Munich, Trogerstasse 26, 81675, Munich, Germany aut NATIONALLICENCE 773 0- Surgical Endoscopy And Other Interventional Techniques Springer-Verlag 18/11(2004-11-01), 1649-1656 0930-2794 18:11<1649 2004 18 464 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE NATIONALLICENCE NL-springer