Using Inertial Sensor System to Measure the Workspace of the Surgeon's Upper Limbs during Operations

Ali Soroush; Farzam Farahmand

doi:10.4028/www.scientific.net/AMM.772.329

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 772Using Inertial Sensor System to Measure the...

Using Inertial Sensor System to Measure the Workspace of the Surgeon's Upper Limbs during Operations

Abstract:

The aim of this study was to determine the workspace of surgeon's body for designing more efficient surgical robots in the operation rooms. Five wearable inertial sensors were placed near the wrist and elbow joints and also on the thorax of surgeons to track the orientation of upper limb. Assuming that the lengths of five segments of an upper limb were known, measurements of the inertial sensors were used to determine the position of the wrist and elbow joints via an established kinematic model. subsequently, to assess the workspace of surgeon upper body, raw data were collected in the arthroscopy and laparoscopy operations. Experimental results demonstrated that the workspaces of surgeon's joints are limited and predefined. The results can be used for designing surgical robots and surgeon body supports.

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Periodical:

Applied Mechanics and Materials (Volume 772)

Pages:

329-333

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.772.329

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Online since:

July 2015

Authors:

Ali Soroush*, Farzam Farahmand

Keywords:

Arthroscopy, INS, Laparoscopy, Operation, Workspace Measurement

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