Print Email Facebook Twitter Assessment of joystick and wrist control in hand-held articulated laparoscopic prototypes Title Assessment of joystick and wrist control in hand-held articulated laparoscopic prototypes Author Okken, L.M. Chmarra, M.K. Hiemstra, E. Jansen, F.W. Dankelman, J. Faculty Mechanical, Maritime and Materials Engineering Department Biomechanical Engineering Date 2012-07-01 Abstract Various steerable instruments with flexible distal tip have been developed for laparoscopic surgery. The problem of steering such instruments, however, remains a challenge, because no study investigated which control method is the most suitable. This study was designed to examine whether thumb (joystick) or wrist control method is designated for prototypes of steerable instruments by means of motion analysis. Methods: Five experts and 12 novices participated. Each participant performed a needle-driving task in three directions with two prototypes (wrist and thumb) and a conventional instrument. Novices performed the tasks in three sessions, whereas experts performed one session only. The order of performing the tasks was determined by Latin squares design. Assessment of performance was done by means of five motion analysis parameters, a newly developed matrix for assigning penalty points, and a questionnaire. Results: The thumb-controlled prototype outperformed the wrist-controlled prototype. Comparison of the results obtained in each task showed that regarding penalty points, the up ? down task was the most difficult to perform. Conclusions: The thumb control is more suitable for steerable instruments than the wrist control. To avoid uncontrolled movements and difficulties with applying forces to the tissue while keeping the tip of the instrument at the constant angle, adding a ‘‘locking’’ feature is necessary. It is advisable not to perform the needle driving task in the up down direction Subject minimally invasive surgeryhand-held articulated instrumentsmotion analysisneedle-driving To reference this document use: http://resolver.tudelft.nl/uuid:af5f08dd-6486-497f-96f7-a7734939b3c9 DOI https://doi.org/10.1007/s00464-011-2138-7 Publisher Springer ISSN 1432-2218 Source http://link.springer.com/article/10.1007/s00464-011-2138-7 Source Surgical endoscopy, 26(7)2012 Part of collection Institutional Repository Document type journal article Rights (c)2012 The Authors, Springer Files PDF Okken.pdf 596.73 KB Close viewer /islandora/object/uuid:af5f08dd-6486-497f-96f7-a7734939b3c9/datastream/OBJ/view