The Bimanual Control Of A Multi-Branched Instrument

Long slender instruments used in Endonasal Surgery have two main limitations, the first being that current instruments have a fixed shape so that difficult positioned lesions cannot be reached. The other limitation is caused by the colliding of instrument shafts when multiple shafts are inserted in the surgical corridor, reducing the instrument maneuverability. A Multi-Branched instrument could overcome these problems i.e. an instrument with a single steerable shaft that is inserted through the surgical corridor that at the distal end divides into multiple tool branches that are all steerable. In this research a first step was made to develop a suitable control strategy to operate such an instrument, using a new method for performance testing. Methods: Two interfaces were proposed: A sequential interface that allows the control of a single instrument at a time for each hand, and a simultaneous interface that allows the control of two instruments in parallel for each hand. The simultaneous interface was expected to result in quicker performance. To evaluate their performance, the interfaces were prototyped and connected to a simulation environment containing a virtual Multi-Branched instrument. Results: The sequential interface resulted in around 10% quicker performance than the simultaneous interface. The used methodology to test the control strategies has proven to be successful and enabled further research with relatively low effort to experiment with other instrument configurations and control concepts.

Subject

Robotic Surgery Endonasal Neurosurgery Keyhole Laprascopic

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http://resolver.tudelft.nl/uuid:3086f00d-047e-4a60-bffc-006eff9e5ba9

Embargo date

2015-07-13

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Student theses

Document type

master thesis

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Thesis_-_Floris_van_den_Berg.pdf

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