Development of actuated and sensor integrated forceps for minimally invasive robotic surger
Identifieur interne : 002E04 ( Istex/Corpus ); précédent : 002E03; suivant : 002E05Development of actuated and sensor integrated forceps for minimally invasive robotic surger
Auteurs : B. Kuebler ; U. Seibold ; G. HirzingerSource :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2005-09.
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- KwdEn :
Abstract
In minimally invasive surgery (MIS) the patient's skin forms a spatial barrier between the operation area and the surgeon. This prevents direct access to the operation site which causes a lack of dexterity and limits the sensation of tissue manipulation forces, therefore complicating MIS procedures significantly. A telepresence approach can overcome these limitations: Additional degrees of freedom (DoF) inside the patient provide full manipulability and force torque sensors at the distal end of the instrument allow precise measurement of interaction forces. Using a suitable man‐machine interface and free cartesian motion kinaesthetic feedback can be achieved, thus providing a virtual open surgery environment to the surgeon. This article focuses on the development and first results of actuated and sensor integrated instruments as part of the DLR minimally invasive robotic surgery (MIRS) setup. The instruments as a front‐end part of the MIRS setup form one base of a telepresence working environment and are crucial for semi‐autonomous functions, e.g. motion compensation. Copyright © 2005 John Wiley & Sons, Ltd.
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DOI: 10.1002/rcs.33
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ISTEX:FAD2DD97DBF11E37A97232AB9C0FD850BEE628ABLe document en format XML
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This prevents direct access to the operation site which causes a lack of dexterity and limits the sensation of tissue manipulation forces, therefore complicating MIS procedures significantly. A telepresence approach can overcome these limitations: Additional degrees of freedom (DoF) inside the patient provide full manipulability and force torque sensors at the distal end of the instrument allow precise measurement of interaction forces. Using a suitable man‐machine interface and free cartesian motion kinaesthetic feedback can be achieved, thus providing a virtual open surgery environment to the surgeon. This article focuses on the development and first results of actuated and sensor integrated instruments as part of the DLR minimally invasive robotic surgery (MIRS) setup. The instruments as a front‐end part of the MIRS setup form one base of a telepresence working environment and are crucial for semi‐autonomous functions, e.g. motion compensation. Copyright © 2005 John Wiley & Sons, Ltd.</abstract><subject lang="en"><genre>keywords</genre><topic>minimally invasive robotic surgery</topic><topic>force feedback</topic><topic>telemanipulation</topic><topic>telepresence</topic><topic>actuated and sensorized surgical instruments</topic></subject><relatedItem type="host"><titleInfo><title>The International Journal of Medical Robotics and Computer Assisted Surgery</title></titleInfo><titleInfo type="abbreviated"><title>Int. J. Med. Robotics Comput. Assist. 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