現今肩關節鏡手術大多都是人力持鏡，醫師與持鏡助手需要多次溝通才能完成協調，導致手術時間拉長，長時間下持鏡的手難免會顫抖連帶造成畫面失焦以及晃動，使得醫師難以作業。因此為了提高手術效率，減少人力資源負擔，使用夾持工具進行手術是目前微創外科手術的重要研究之一。本研究團隊先前已開發了針對肩關節鏡手術的站立式夾持器，本研究目標為改善先前夾持器臨床使用的缺點。本研究發展的懸吊式肩關節鏡夾持器整合定位及定向機構、永磁煞車機構與重力補償機構。透過此系統醫師可以獨自進行肩關節鏡手術，短時間內就能熟悉此系統的操作，經由7個自由度的夾持器來調整關節鏡位置，並利用永磁煞車機構即時固定夾持器姿態，安裝重力補償機構可以減輕使用者調整時的負擔。為評估夾持器的使用表現，本研究邀請執刀醫師參加肩關節手術的模擬任務，利用動作檢測系統，紀錄、分析受試者動作，並利用綜合評分表評估使用者操作夾持器的表現情況。
本研究發展之懸吊被動式肩關節鏡夾持器可以提升肩關節鏡臨床手術的手術效率，減少醫師負擔。

Nowadays, most shoulder arthroscopy are performed manually. The surgeon and the assistant who holds the arthroscope need to communicate several times to adjust the location and orientation of the arthroscope. It may lead to prolonged operation time and mistakes. Therefore, to improve the efficiency of surgery and reduce the burden of human resources, using holder for minimally invasive surgery is an important research area. Our team has previously developed a standing holder for shoulder arthroscopes, and this study aimed to improve the drawbacks of the previous holder found from clinical trials. A suspended passive holder for shoulder arthroscope was developed in this study by integrating a positioning and orientation mechanism, a permanent magnet braking mechanism and a gravity compensation mechanism. Using this system, the surgeon can perform shoulder arthroscopy alone, and become proficient to use the holder after short learning time. The surgeon can adjust the position of the arthroscope by mechanism having 7 degrees of freedom and use the permanent magnet braking mechanism to fix the holder instantly. The gravity compensation mechanisms installed in the holder can reduce the load on the surgeon during the fine adjustment of the arthroscope position. To evaluate the performance of the holder, a surgeon was invited to use the holder to do simulated surgical tasks on a shoulder phantom. A motion analysis system was used to record hand movements of the surgeon and the kinematics of the hand movements were utilized to evaluate the effects of the holder on efficiency of the simulated surgery. A global rating scale is used to assess user's subjective opinions on using the holder.

The experimental results shows the new suspended passive holder may improve the surgical efficiency of the shoulder arthroscopy and reduce clinical human burden in shoulder surgery.

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