子宮切除術是最常進行的婦科手術之一，據統計，美國每年平均錄得約600,000宗進行子宮切除術的病例。全腹腔鏡子宮切除術為子宮切除術的一種，在手術中，病人的子宮將經由完全使用腹腔鏡的模式被摘除。 / 在普遍全腹腔鏡子宮切除術的流程中，名為舉宮器的手術儀器會被應用於手術中，以改變病人子宮的位置及方向。手術室內，除了負責為病人摘除子宮的醫生外，還需額外一名負責操作舉宮器的醫生在場，以促進手術的進行。於手術的過程中，為使摘除手術能更有效及順利地進行，這名醫生需以人手操作舉宮器以控制病人體內子宮的方位。一般而言，這項工作都是枯燥而疲憊的。然而，在負責進行摘除手術的醫生眼中，縱子宮的方位已被調整，其方位仍然未如理想的情況亦不屬罕見。 / 故此，一個能勝任代替醫生負責操作舉宮器的機械人助手將會是可行的解決方案之一。與此同時，機械人亦能將病人子宮方位的控制權交回負責進行摘除手術的醫生手中。 / 本論文提出一套以把醫生從操作舉宮器的工作中釋放為目標，並使子宮方位操作變得更準確及穩定的機械人系統。機械人系統由兩個部分構成，分別為一支一個自由度的電動舉宮器以及一台三個自由度的舉宮器方位操作機械人。 / 舉宮器方位操作機械人旨在模仿以往醫生操作舉宮器的動作，以負責把固定在它身上的舉宮器移動到及固定在指定的位置。舉宮器方位操作機械人共有三個關節，分別為旋轉關節、滑動關節以及線性關節。關節的佈置滿足特定的幾何約束以構成遠程運動中心，使機械人能把手術儀器從細小的開口（例如：子宮頸）中進行操作。本論文提出的舉宮器方位操作機械人備有配適器以兼容不同款式的舉宮器，例如市場上現存的舉宮器以及本論文提出的電動舉宮器，均可應用在本系統中。 / 本論文提出的電動舉宮器為系統中可選擇性的元件，它是個一自由度附帶可轉動末端的裝置，旨在延伸機械人系統末端執行器的可到達範圍。 / 本論文將論述這套機械人系統的設計，包括其機械設計與電子系統的部分、運動學與及工作空間。一台實驗用的樣機已被建造以作驗證設計之用。該樣機以醫學人體模型為對象的實驗結果亦會在本論文中提出。 / Hysterectomy is one of the most frequently performed gynecologic procedures. In average, around 600,000 cases are recorded annually in the United States. Total laparoscopic hysterectomy (TLH) is one of the approaches of performing hysterectomy in which uterus of a patient is removed from an entirely laparoscopic approach. / In ordinary TLH procedures, a surgical apparatus, uterus manipulator, used for changing the position and orientation of the patient’s uterus is involved. In the operating theatre, apart from the primary surgeon who is responsible for the removal of uterus, an assisting surgeon is also involved for operating the uterus manipulator. Throughout the surgery, she/he has to manipulate the patient’s uterus using the uterus manipulator manually to facilitate the removal procedure. This task is generally tiring and boring. In addition, it is also common that the manipulated position is not satisfactory from the primary surgeon’s point of view. / Thus, a robotic assistant which is capable of taking up the task of this assisting surgeon as well as allowing the primary surgeon to have full control on the position of the patient’s uterus may be one of the potential solutions. / In this thesis, a robotic system aiming at providing more precise and stable manipulating motion and freeing the assisting surgeon who is responsible for operating the uterus manipulator is presented. The presented robotic system is composed of two parts, a motorized uterus manipulator of one degree of freedom and a robotic uterus manipulator positioner of three degrees of freedom. / Objective of the uterus manipulator positioner presented is to imitate what is doing by the assisting surgeon when operating the uterus manipulator. It holds and manipulates the uterus manipulator attached to it. The uterus manipulator positioner is a robotic system consisted of three joints, a revolute joint, a sliding joint and a translational joint. Arrangement of the joints is forced to satisfy specific geometric constraints so that a remote center of motion (RCM) is created to allow manipulation through small openings such as the cervix. Adaptors are included to enable the use of different uterus manipulators. Existing uterus manipulators and the motorized uterus manipulator presented in this thesis can be adapted to the system. / The motorized uterus manipulator presented in this thesis is an optional element of the robotic system. It is a device of one degree of freedom with a movable tip aiming at enhancing the reaching capability of the end-effector of the robotic system. / In this thesis, design of the robotic system in both mechanical and electronic aspects is presented. Kinematics and workspace of the system is also discussed. To verify the design, a prototype is built. Finally, verification experiments with the prototype on manikin are provided. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Yip, Hiu Man. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2013. / Includes bibliographical references (leaves 96-98). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstracts also in Chinese. / Abstract --- p.i / 摘要 --- p.iv / Acknowledgement --- p.vi / Table of Contents --- p.viii / List of Figures --- p.x / Chapter Chapter 1. --- Introduction --- p.1 / Chapter 1.1. --- Total Laparoscopic Hysterectomy --- p.1 / Chapter 1.2. --- Existing Uterus Manipulators --- p.4 / Chapter 1.3. --- Existing Uterus Manipulator Positioners --- p.6 / Chapter 1.4. --- Existing Medical Robots --- p.9 / Chapter 1.5. --- Existing RCM Mechanisms --- p.11 / Chapter 1.6. --- Motivation and Contribution --- p.12 / Chapter Chapter 2. --- Conceptual Design --- p.15 / Chapter 2.1. --- Design Requirements --- p.15 / Chapter 2.2. --- Conceptual Design of Prototype --- p.16 / Chapter Chapter 3. --- Design of Prototype --- p.23 / Chapter 3.1. --- Mechanical Design of the Robotic System --- p.25 / Chapter 3.1.1. --- Design of the Robotic Uterus Manipulator Positioner --- p.25 / Chapter 3.1.2. --- Adaptor --- p.35 / Chapter 3.1.3. --- Design of the Motorized Uterus Manipulator --- p.36 / Chapter 3.2. --- Kinematics of the Robotic System --- p.38 / Chapter 3.2.1. --- Coordinates of Points on a Sphere --- p.39 / Chapter 3.2.2. --- The 2-DOF Uterus Manipulator Positioner --- p.40 / Chapter 3.2.3. --- The 3-DOF Uterus Manipulator Positioner --- p.42 / Chapter 3.2.4. --- The 4-DOF robotic system --- p.45 / Chapter 3.2.5. --- Velocity --- p.50 / Chapter Chapter 4. --- Design of Control System --- p.52 / Chapter 4.1. --- Robot Controlling Unit --- p.52 / Chapter 4.1.1. --- Size Reduced Controlling Unit --- p.53 / Chapter 4.2. --- User Interface --- p.62 / Chapter 4.2.1. --- Foot-Controlled Interface --- p.63 / Chapter 4.2.2. --- Hand-Controlled Panel --- p.68 / Chapter Chapter 5. --- Prototype and Experiments --- p.70 / Chapter 5.1. --- Developed Prototype --- p.70 / Chapter 5.2. --- Experiments --- p.72 / Chapter 5.2.1. --- Robot Controller --- p.73 / Chapter 5.2.2. --- Control Algorithm --- p.77 / Chapter 5.2.3. --- Experiment on the Prototype --- p.79 / Chapter 5.2.4. --- Experiment with Manikin --- p.87 / Chapter Chapter 6. --- Conclusion and Future Work --- p.90 / Chapter 6.1. --- Conclusion --- p.90 / Chapter 6.2. --- Robot Positioning Platform --- p.92 / Chapter 6.3. --- Reinforcement of the Robotic System --- p.94 / Chapter 6.4. --- Extension of User Interfaces --- p.95 / List of References --- p.96

O prolapso da cúpula vaginal é uma patologia rara, que há mais de 100 anos sua fisiopatologia e tratamento têm sido alvo de discussão, devido ao grau de dificuldade de um tratamento com preservação da anatomia. A técnica considerada como padrão-ouro para esta correção é a promontofixação abdominal, porém a alta morbidade associada à laparotomia é um fator de restrição ao uso da técnica. Neste aspecto, as técnicas de abordagens vaginais oferecem vantagem de menor morbidade e menor tempo cirúrgico quando comparadas às técnicas abdominais. Este trabalho teve por objetivo avaliar a Técnica da Sacropexia Infracoccígea na fixação da cúpula vaginal. Foram estudadas 36 mulheres com prolapso da cúpula vaginal no período de março de 2004 à fevereiro de 2008 as quais foram submetidas ao tratamento cirúrgico para correção do prolapso segundo a Técnica da Sacropexia Infracoccígea. As mulheres foram estadiadas quanto ao grau do prolapso segundo a Padronização dos Prolapsos Genitais da ICS - POPq antes e após o procedimento e foram submetidas a avaliação da qualidade de vida através da aplicação do Questionário de Qualidade de Vida em Prolapso, nos mesmos períodos de avaliação do exame ginecológico. Para avaliar a cúpula vaginal foi utilizado o Ponto C do POPq e submetido a tratamento estatístico. As mulheres foram acompanhadas por um tempo médio de 30,9 meses (10 a 55 meses). O Ponto C avaliado antes e após o procedimento variou de média de +6 (antes do procedimento) para média de -6,5 (após 24 meses da correção). A variação do Ponto C foi estatisticamente significante. Houve somente uma recidiva do prolapso após 24 meses de avaliação. Quanto ao Questionário de Qualidade de vida houve redução significativa da pontuação pós-operatória, mostrando melhora importante na qualidade de vida das mulheres estudadas (p<0,05). Em uma média de 30,9 meses de estudo a técnica foi eficaz na redução do prolapso da cúpula vaginal e na melhora da qualidade de vida das mulheres estudadas. / The vaginal vault prolapse isn´t a common pathology that there are at least one hundred years it´s physiopathology and treatment have been discussed. It´s occurs mainly by the difficulty to find an anatomic preservation treatment. The most accept technique is the abdominal colposacropexy and it´s considered the gold standard for some authors, although the high morbidity associated with it is a restriction factor. On the other hand, the vaginal techniques take less morbidity and less surgical time to perform the procedure regards abdominal techniques. The objective of this work was to evaluate long-term results and long-term patients satisfaction of infracoccigeal sacropexy technique performed for massive vaginal vault prolapse. A prospective analysis was performed of 36 women who underwent vaginal vault prolapse correction by the infracoccigeal sacropexy technique during the period of march, 2004 to February, 2008. The gynecological exam was performed by the Pelvic Organ Prolapse Standardization (POP-q) and a validated questionnaire (Prolapse Quality of Life Questionnaire) was used to evaluate patients´ satisfaction before and after surgery, at the same evaluation periods. To evaluate the vaginal vault prolapse, the Point C of POPq was taken before and after surgery and an appropriate statistical analysis was performed. The women was followed by a mean time of 30,9 months (10 to 55 months). The point C variation media was +6 before the procedure to -6,5 after the procedure (after 24 months after surgery). It was statistically significant (p<0,05). There was only one vaginal vault prolapse recurrence after 24 months of evaluation. The quality of life questionnaire showed patients´ satisfaction was statistically improved after the procedure (p<0,05). Taking a mean time of 30,9 months the technique was efficient to reduce the vaginal vault prolapse and to improve the quality of life in the group of study.

O prolapso da cúpula vaginal é uma patologia rara, que há mais de 100 anos sua fisiopatologia e tratamento têm sido alvo de discussão, devido ao grau de dificuldade de um tratamento com preservação da anatomia. A técnica considerada como padrão-ouro para esta correção é a promontofixação abdominal, porém a alta morbidade associada à laparotomia é um fator de restrição ao uso da técnica. Neste aspecto, as técnicas de abordagens vaginais oferecem vantagem de menor morbidade e menor tempo cirúrgico quando comparadas às técnicas abdominais. Este trabalho teve por objetivo avaliar a Técnica da Sacropexia Infracoccígea na fixação da cúpula vaginal. Foram estudadas 36 mulheres com prolapso da cúpula vaginal no período de março de 2004 à fevereiro de 2008 as quais foram submetidas ao tratamento cirúrgico para correção do prolapso segundo a Técnica da Sacropexia Infracoccígea. As mulheres foram estadiadas quanto ao grau do prolapso segundo a Padronização dos Prolapsos Genitais da ICS - POPq antes e após o procedimento e foram submetidas a avaliação da qualidade de vida através da aplicação do Questionário de Qualidade de Vida em Prolapso, nos mesmos períodos de avaliação do exame ginecológico. Para avaliar a cúpula vaginal foi utilizado o Ponto C do POPq e submetido a tratamento estatístico. As mulheres foram acompanhadas por um tempo médio de 30,9 meses (10 a 55 meses). O Ponto C avaliado antes e após o procedimento variou de média de +6 (antes do procedimento) para média de -6,5 (após 24 meses da correção). A variação do Ponto C foi estatisticamente significante. Houve somente uma recidiva do prolapso após 24 meses de avaliação. Quanto ao Questionário de Qualidade de vida houve redução significativa da pontuação pós-operatória, mostrando melhora importante na qualidade de vida das mulheres estudadas (p<0,05). Em uma média de 30,9 meses de estudo a técnica foi eficaz na redução do prolapso da cúpula vaginal e na melhora da qualidade de vida das mulheres estudadas. / The vaginal vault prolapse isn´t a common pathology that there are at least one hundred years it´s physiopathology and treatment have been discussed. It´s occurs mainly by the difficulty to find an anatomic preservation treatment. The most accept technique is the abdominal colposacropexy and it´s considered the gold standard for some authors, although the high morbidity associated with it is a restriction factor. On the other hand, the vaginal techniques take less morbidity and less surgical time to perform the procedure regards abdominal techniques. The objective of this work was to evaluate long-term results and long-term patients satisfaction of infracoccigeal sacropexy technique performed for massive vaginal vault prolapse. A prospective analysis was performed of 36 women who underwent vaginal vault prolapse correction by the infracoccigeal sacropexy technique during the period of march, 2004 to February, 2008. The gynecological exam was performed by the Pelvic Organ Prolapse Standardization (POP-q) and a validated questionnaire (Prolapse Quality of Life Questionnaire) was used to evaluate patients´ satisfaction before and after surgery, at the same evaluation periods. To evaluate the vaginal vault prolapse, the Point C of POPq was taken before and after surgery and an appropriate statistical analysis was performed. The women was followed by a mean time of 30,9 months (10 to 55 months). The point C variation media was +6 before the procedure to -6,5 after the procedure (after 24 months after surgery). It was statistically significant (p<0,05). There was only one vaginal vault prolapse recurrence after 24 months of evaluation. The quality of life questionnaire showed patients´ satisfaction was statistically improved after the procedure (p<0,05). Taking a mean time of 30,9 months the technique was efficient to reduce the vaginal vault prolapse and to improve the quality of life in the group of study.