WalterLorenz Surgical Assist Arm
Total Hip Arthroplasty WalterLorenz Surgical Assist Arm Total Hip Arthroplasty Procedural Setup Guide
Table of Contents Introduction. 1 Anterior Hip Approach. 2 Setup & Surgery Preparation. 3 Common Retractors & Setup. 4 Posterior Hip Approach. 6 Setup & Surgery Preparation. 7 Common Retractors & Setup. 8 WalterLorenz Surgical Assist Arm Universal Instrument Tray Layout. 10
1 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide WalterLorenz Surgical Assist Arm The WalterLorenz Surgical Assist Arm is a table-mounted, bionic electromechanical arm and is designed for controlled retraction and/or positioning of instruments. The device connects to any standard OR table rail and may be adjusted to multiple heights and positions depending on the procedure and set-up required. Once setup, the WalterLorenz Arm is easy to maneuver and position by depressing the activation button twice and holding to unlock the device, allowing it to move with 7 degrees of freedom. Manual instruments such as retractors, forceps, and elevators may be connected to the WalterLorenz Surgical Assist Arm via one of two methods: (1) A proprietary direct connection to the End Effector or 1 (2) utilizing a Universal Instrument Holder 2 WalterLorenz Surgical Assist Arm Anatomy 1 Wrist 2 Elbow 3 Distal Arm 4 Proximal Arm 5 Control Box with User Interface Keypad 3 4 User Interface Keypad 5 Unlock Button Battery Indicator Power Button This guide intends to instruct on the optimal use of the WalterLorenz Surgical Assist Arm in an Total Hip Arthroplasty. This technique utilizes general orthopedic retractors although you may easily substitute for your preferred instruments. This guide should be used in conjunction with the WalterLorenz Surgical Assist Arm Product Manual (01-50-1645 or 01-50-1720, see packaging of your device for the appropriate manual). This guide shows instruments in configurations intended for a LEFT hip procedure. Therefore many configurations will need to be flipped around for a right-side procedure.
2 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Anterior HIP APPROACH
3 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Setup & Surgery Preparation WalterLorenz Arm Assistant WalterLorenz Arm Surgeon Figure 1 Figure 2 WalterLorenz Surgical Assist Arm Setup and Positioning Attach the WalterLorenz Arm clamp to the bed rail at the patient’s illiac crest on the non-operative side, across from the surgeon. Orient the WalterLorenz Arm base pole perpendicular to the floor and insert the pole into the clamp as far down in the clamp as possible. Rotate the WalterLorenz Arm base such that the button display faces out from the table and is perpendicular to the edge of the table. Tighten the clamp to secure the positioning of the pole. Using the long distal arm, position the arm in the surgical field (Figures 1 & 2). Note: For the complete WalterLorenz Arm assembly and draping instructions, please see the WalterLorenz Product manual available on www.walterlorenzarm.com. Note: The positioning will vary based on the patient size and the surgeon’s preference.
4 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Common Retractors & Setup Figure 4 Superior Acetabular Retractor Figure 6 Medial Calcar Retractor Figure 3 Hohmann Retractor Figure 5 Femoral Elevator Retractor Note: Common retractor styles for Anterior Hip Replacement are shown, however the surgeon can interchange universal attachments and retractors as desired.
5 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Common Retractors & Setup (cont.) Figure 7 Universal Forceps Holder Assembly Figure 8 Flat Universal Instrument Holder Assembly Before surgery begins, attach the WalterLorenz Arm Universal attachments to retractors that will be used in the case. Universal Forceps Holder Assembly (Figure 7) 1. Turn the large knob on the top of the holder counterclockwise until the jaws are wider than the handle of the instrument Figure 9 Large Inline Universal Holder Assembly Large Inline Universal Holder Assembly (Figure 9) 1. Turn the knob counterclockwise to extend the inner metal circle 2. Insert the handle of the desired retractor into the metal circle 3. Turn the knob clockwise to tighten the metal inner circle around the handle of the retractor 2. Slide the instrument into one of the grooves 3. Turn the knob clockwise to tighten the holder to the instrument handle Flat Universal Instrument Holder Assembly (Figure 8) 4. Turn the knob on the holder counter-clockwise until the jaws are wider than the handle of the instrument 5. Slide the instrument into the opening of the jaws 6. Turn the knob clockwise to tighten the holder to the instrument handle Note: This attachment works best for retractors with thick, round handles that are not compatible with other attachment styles.
6 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Posterior HIP APPROACH
7 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Setup & Surgery Preparation WalterLorenz Arm Assistant Surgeon WalterLorenz Arm Figure 1 Figure 2 WalterLorenz Surgical Assist Arm Setup and Positioning Attach the WalterLorenz Arm clamp to the bed rail to the left of the surgeon. Orient the WalterLorenz Arm base pole perpendicular to the floor and insert the pole into the clamp as far down in the clamp as possible. Rotate the WalterLorenz Arm base such that the button display faces out from the table and is perpendicular to the edge of the table. Tighten the clamp to secure the positioning of the pole. Using the long distal arm, position the arm in the surgical field (Figures 1 & 2). Note: The position will vary based on the patient’s size and surgeon preference. Note: For the complete WalterLorenz Arm assembly and draping instructions, please see the Walter WalterLorenz Arm Product manual available on www.walterlorenzarm.com.
8 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Common Retractors & Setup Figure 3 Posterior Head Elevator Figure 4 Slim Tip Hohmann Retractor Note: Common retractor styles for Posterior Hip Replacement are shown, however the surgeon can interchange universal attachments and retractors as desired. Figure 5 Small Bent Hohmann Retractor
9 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide Common Retractors & Setup (cont.) Figure 6 Universal Forceps Holder Assembly Figure 7 Flat Universal Instrument Holder Assembly Before surgery begins, attach the WalterLorenz Arm Universal attachments to retractors that will be used in the case. Universal Forceps Holder Assembly (Figure 6) 1. Turn the large knob on the top of the holder counterclockwise until the jaws are wider than the handle of the instrument Figure 8 Large Inline Universal Holder Assembly Large Inline Universal Holder Assembly (Figure 8) 1. Turn the knob counterclockwise to extend the inner metal circle 2. Insert the handle of the desired retractor into the metal circle 3. Turn the knob clockwise to tighten the metal inner circle around the handle of the retractor 2. Slide the instrument into one of the grooves 3. Turn the knob clockwise to tighten the holder to the instrument handle Flat Universal Instrument Holder Assembly (Figure 7) 4. Turn the knob on the holder counter-clockwise until the jaws are wider than the handle of the instrument 5. Slide the instrument into the opening of the jaws 6. Turn the knob clockwise to tighten the holder to the instrument handle Note: This attachment works best for retractors with thick, round handles that are not compatible with other attachment styles.
10 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide WalterLorenz Surgical Assist Arm Universal Instrument Tray Layout Product Description Part Number Universal Instrument Tray WAL300 *End Effector WAL119 *Forceps Universal Holder WAL304 Small Universal Holder WAL302 *Flat Universal Holder WAL301 Scope Holder WAL315 *Large Inline Universal Holder WAL317 Large 90 Universal Holder WAL316 *Torque Relief Tool WAL318 *These tools are commonly used in Total Hip Arthroplasty.
Notes
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2 WalterLorenz Surgical Assist Arm for Total Hip Arthroplasty Procedural Setup Guide WalterLorenz Surgical Assist Arm The WalterLorenz Surgical Assist Arm is a table-mounted, bionic electromechanical arm and is designed for controlled retraction and/or positioning of instruments. The device connects to any standard OR table rail
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(Dual-Monitor Arm, Single Monitor Arm, Monitor Arm Laptop Stand) If your monitor is too heavy (arm won't stay up) or too light (arm won't stay down), you need to . adjust the spring arm tension to hold them at the right height. Insert the long M6 Allen Wrench that came with your Monitor Arm into the . opening to adjust the tension bolt.
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(a) Surgical robot arm. Tool of the right robotic arm z 4 x 4 z 5 z x 5 6 x 6 z 4 x 4 x 3 z 3 Bottom of the tool Top of the tool (b) Surgical tool. Fig. 2: Reference frame of the Raven IV surgical robotic system. The base frame is located at the converging center of the spherical mechanism, which is formed by the first three links of a Raven .
Figure 2. Design of Space craft with robotic arm space in the launching vehicle compared to the traditional rigid, fixed geometry robotic arm. Figure 3. Morphing robotic arm section 3. DYNAMIC MODEL OF ROBOTIC ARM In this section, dynamic model of the morphing arm based on telescopic type morphing beam is derived. The robotic arm is assumed to .
8.) Once the Loading Arm is mounted to inlet-supply piping, reconnect torsion-spring link arm via pivot pin. 9.) Secure pivot pin with E-clips. 10.) Raise outboard section of Loading Arm until Link Arm holes align with pin lugs on outboard piping. 11.) For a supported boom-style arm, Loading Arm must be supported until the pillow block or the
LabVIEW uses the parallel communication to send the joint angles of the robot arm to the ARM. ARM microcontroller uses five PWM (Pulse Width Modulation) signals in order to control the robot arm, which was geared up with servo motors. Robot arm was controlled manually through the LabVIEW GUI (Graphical User Interface) controls.
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