Workspace Analysis for Evaluating Laparoscopic Instruments

  • J.-H. BorchardEmail author
  • F. Dierßen
  • J. Kotlarski
  • L. A. Kahrs
  • T. Ortmaier
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


Laparo-endoscopic surgery is the treatment of choice in a variety of intra-abdominal interventions, leading to lower infection risk, shorter recovery time, and smaller scars. This paper presents a method for quantifying workspaces of instruments in laparoscopic surgery. In contrast to most existing approaches, the proposed performance criterion combines the executable positions and orientations of the instrument’s functional end. Together with both, an intervention specific workspace and consideration of collisions between instruments, the introduced criterion is suitable to evaluate and compare laparoscopic instruments and systems quantitatively. A three-dimensional, color-scale visualization of the criterion helps analyzing laparoscopic instruments or systems. The presented methods are evaluated with instruments of the da Vinci Surgical System by Intuitive Surgical, Inc. While evaluating the presented performance criterion, the workspace dependency of EndoWrist instruments under influence of different distances of trocar points is demonstrated and quantified.


Kinematic evaluation Workspace Medical devices Laparoscopic surgery 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • J.-H. Borchard
    • 1
    Email author
  • F. Dierßen
    • 1
  • J. Kotlarski
    • 1
  • L. A. Kahrs
    • 1
  • T. Ortmaier
    • 1
  1. 1.Institute of Mechatronic SystemsLeibniz Universität HannoverHanoverGermany

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