Reducing Degrees of Freedom in Surgical Suturing: Implications for Minimally Invasive Device Development—A Prospective Experimental Study. Issue 4 (21st August 2021)

• Record Type: Journal Article
• Authors: Wilhelm, Peter; Lambidis, Lisa; Williams, Jacob; Axt, Steffen; Storz, Pirmin; Kunert, Wolfgang; Kirschniak, Andreas; Rolinger, Jens
• Is Part Of: Surgical laparoscopy endoscopy & percutaneous techniques. Volume 31:Issue 4(2021)
• Page Start: 421
• Page End: 427
• Publication Date: 2021-08-21
• Subjects: degrees of freedom -- robotic surgery -- laparoscopic surgery -- single access surgery -- prospective cross-over study; Endoscopic surgery -- Periodicals; Laparoscopic surgery -- Periodicals; Endoscopy -- Periodicals; Laparoscopy -- Periodicals; 617.550597
• DOI: 10.1097/SLE.0000000000000961
• Languages: English
• ISSNs: 1530-4515

Abstract

Abstract : Open surgery allows the use of all 6 degrees of freedom (DOF; x - y - z and roll-pitch-yaw), whereas laparoscopy requires working under limitation to 4 axes. We present a prospective experimental study evaluating translational and rotational DOF restriction in surgical suturing tasks. An experimental platform included a kinematic structure that limited the maneuverability of the surgical instruments. The subjects (n=20) worked in a randomized order using (1) 6DOF, (2) 4DOF with 3 translational and 1 rotational DOF (4TRANS), and (3) 4DOF with 1 translational and 3 rotational DOF (4ROT). The time required to perform each task was recorded. Suturing and knot tying were significantly faster under 6DOF compared with 4ROT (both P <0.001) and 4TRANS (both P <0.001). Assessment of subjective difficulty and impairment showed most favorable results for 6DOF. The advantage of rotational compared with translational DOF should be considered in the development of future surgical devices.