中文摘要：

目的腹腔镜手术器械的运动分析是器械设计的重要指标,手术器械通过切口进入腹腔能到达的空间很大,然而器械实际操作中的运动幅度是有限的。本文测量模拟腹腔镜手术时器械的插入深度、偏转角度等参数,获得器械的实际运动空间。方法在腹腔镜手术训练系统上设置转移任务和缝合任务。采用双目视觉系统Micron Tracker捕捉每把器械上的标记点,获得标记点坐标以及相应的器械尖端坐标。通过数据处理,建立以操作平台为基准的坐标系,计算出器械的插入深度、偏转角度,最后获得器械运动空间的数学表达式。结果转移任务中左右器械运动空间基本对称,器械的插入深度约为154~240 mm,上下摆动的角度约为29°,左右摆动的角度约为30°。缝合任务中左右器械运动空间差距较大,右器械的摆动角度（上下45°,左右52.2°）明显比左器械大（上下27.7°,左右34.7°）。缝合任务中器械的运动空间比转移任务大。结论腹腔镜手术中器械的实际运动空间比器械所能到达的空间小。器械的实际运动空间受操作任务、插入点位置、左-右手等因素影响。本研究可用于传统腹腔镜手术的器械运动分析,也可为不同切口下器械的运动空间分析提供参考,并为新手术入路下的器械设计提供思路。

英文摘要：

Objective Motion analysis of laparoscopic instrument is crucial for instrument design. The space that surgical instrument can reach after entering the abdomen via a small incision is large,however,motion space of the instrument during operation is limited. In this paper,range of motion of the instrument was measured,including inserted length and pivoting angle. Methods Two tasks,transferring and suturing,were set up based on laparoscopic surgery training system. A binocular vision system,Micron Tracker,was used to obtain the position of the marker on the instrument and instrument tip during task operation. A new coordinate system was established based on the operation platform. The inserted length and pivoting angle of the instruments were calculated afterwards. Finally,a general formula of instrument motion space was obtained.Results In transferring task,motion space of left and right instruments were almost symmetrical. The inserted length was approximately 154 to 240 mm. Up / down pivoting angle was approximately 29 deg. Left / right pivoting angle was approximately 30 deg. In suturing task,there was a big difference of motion space between left and right instruments. Up / down（ 45 deg） and left /right（ 52. 2 deg） pivoting angles of right instrument were much bigger than those of left instrument（ up / down27. 7 deg,left / right 34. 7 deg）. In addition,instrument motion space in suturing task was larger than that in transferring task. Conclusions Actual motion space of the instrument during operation is smaller than theoretical value. Operation tasks,location of the insert point,and left-right hand are important factors to determine actual motion space. The study can be used not only for motion analysis of instrument for traditional laparoscopic surgery,but also for motion analysis and instrument design via different surgical incisions.