Development of an automatic surgical holding system based on ergonomic analysis

Abstract

Introducing new surgical techniques and technical devices into the conventional working system „operating theatre“ as well as efforts integrating new technologies (CAS) require basic analysis of thereby caused problems. Therefore we investigated in cooperation with our clinical partners the surgical workplace concerning posture and holding work using ergonomic analysing methods. From these analyses about endoscopic and orthopaedic surgical interventions a high contribution of critical static working postures is noticed. Particularly the assisting surgeons are additionally stressed by static holding work because of the lack of sufficient support devices and holding systems.

As a contribution to improve working and stressing conditions concerning static holding work in general, the development of an automatic surgical holding device based on piezoelectric jammable joints is presented.

Several tasks have to be carried out for technical realization of this system. First a suitable kinematic structure of the holding system has to be found. This structure has to be designed in accordance with the special requirements of using piezoelectric actuators in particular. To guarantee sufficient mechanical quality FE-analyses have been done. According to the mechanics several control units were built up. Initial tests concerning the functionality and control behaviour have been done.

As a promising extension of the holding system first steps of developing a manipulator with variable mechanical impedance are briefly presented.