A novel uterine manipulator incorporating non-local controls and lateral motion

The work described in the paper was driven by a clinical need for a better uterine manipulator during laparoscopic gynecological procedures, including both hysterectomy and hysteroscopy. The primary purpose of the uterine manipulator is to provide a convenient means for the operators to position the patient's uterus from outside the body. Currently available manipulators are not adequate in two respects. First, no device allows for lateral as well as vertical manipulation. The lack of lateral motion often limits the surgeon during operations. Second, all devices require the operator to awkwardly hunch over the patient to reach the controls near the vagina during manipulation as opposed to a standing position at bedside. This situation usually results in the need for a dedicated assistant to hold the manipulator in place. In this paper, we present a prototype solution that successfully improved the features from the last prototype; addresses two essential needs: First, our manipulator allows for two complete degrees of freedom (lateral and vertical manipulation). Second, our manipulator features a cable-driven "non-local control" handle that can be clamped anywhere along the side of the operating table. Besides these two essential improvements, the surgeons are able to adjust the in and out motion of the manipulator from the foot pedal. With the improved end effector, it incorporates industry standard tips, cups and balloons. We have developed a uterine manipulator with increased functionality and enhanced physician control, which ultimately ensures patient safety and high quality of care.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2013

Author dc:creator

• Tsai, Wan-Ni

Advisor dc:contributor.advisor

• Alexander H. Slocum

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/83748

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/83748