Synthesis and workspace study of endoscopic extenders with flexible stem
Identifieur interne : 001654 ( PascalFrancis/Corpus ); précédent : 001653; suivant : 001655Synthesis and workspace study of endoscopic extenders with flexible stem
Auteurs : A. Faraz ; S. PayandehSource :
- Journal of mechanical design : (1990) [ 1050-0472 ] ; 1997.
Descripteurs français
- Pascal (Inist)
English descriptors
Abstract
Endoscopic surgery is a less invasive method of surgery as compared to open surgery. However, indirect vision, limited hand movement and lack of haptic sensation, combined with the tiring posture of holding long tools makes it a very difficult task for the surgeon to perform (Tendick, 93; Faraz, June, 95). Consequently, the surgeon has a fraction of the dexterity and sensing of that of open surgery. This is specially the case in laparoscopic surgery which is a specific branch of endoscopic surgery, and is performed on the abdomen. The dexterity problem associated with laparoscopic surgery arises from the fact that the present rigid stem extenders can approach the surgical site with some fix orientation (determined by the connecting line between the position of surgical site and the port of entry). Lack of 2 DOF at the stem, to orient the tool's tip to the desired orientation near the surgical site, prevents the surgeon from having the required dexterity and agility. By adding revolute/spherical joints on the stem, the required internal capability in orienting the tool can be achieved, and hence provide more dexterity for the surgeon. Although, there has been some publication in the literature about different design possibilities (e.g., Rinninsland, 93; Melzer, 93; Neisius, 94), as well as U.S. patents (Matsumaru, 92; Heimberger, 94), they are all dealing with special designs with specific design focus. There is a lack of general study of flexible endoscopic extenders with wider design objectives. For example, such objectives can be: (a) general type synthesis of the joint design, (b) formulation of workspace requirements of laparoscopic extenders, and (c) comparative study of different designs in search of the optimal design(s). The objective of this report is to have a systematic synthesis of the joints, as well as formulate the dexterous workspace for laparoscopic extenders with flexible stem, in order to find the optimum design.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
| NO : | PASCAL 97-0502401 INIST |
|---|---|
| ET : | Synthesis and workspace study of endoscopic extenders with flexible stem |
| AU : | FARAZ (A.); PAYANDEH (S.) |
| AF : | Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University/Burnaby, British Columbia, V5A 1S6/Canada (1 aut., 2 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | Journal of mechanical design : (1990); ISSN 1050-0472; Etats-Unis; Da. 1997; Vol. 119; No. 3; Pp. 412-414; Bibl. 10 ref. |
| LA : | Anglais |
| EA : | Endoscopic surgery is a less invasive method of surgery as compared to open surgery. However, indirect vision, limited hand movement and lack of haptic sensation, combined with the tiring posture of holding long tools makes it a very difficult task for the surgeon to perform (Tendick, 93; Faraz, June, 95). Consequently, the surgeon has a fraction of the dexterity and sensing of that of open surgery. This is specially the case in laparoscopic surgery which is a specific branch of endoscopic surgery, and is performed on the abdomen. The dexterity problem associated with laparoscopic surgery arises from the fact that the present rigid stem extenders can approach the surgical site with some fix orientation (determined by the connecting line between the position of surgical site and the port of entry). Lack of 2 DOF at the stem, to orient the tool's tip to the desired orientation near the surgical site, prevents the surgeon from having the required dexterity and agility. By adding revolute/spherical joints on the stem, the required internal capability in orienting the tool can be achieved, and hence provide more dexterity for the surgeon. Although, there has been some publication in the literature about different design possibilities (e.g., Rinninsland, 93; Melzer, 93; Neisius, 94), as well as U.S. patents (Matsumaru, 92; Heimberger, 94), they are all dealing with special designs with specific design focus. There is a lack of general study of flexible endoscopic extenders with wider design objectives. For example, such objectives can be: (a) general type synthesis of the joint design, (b) formulation of workspace requirements of laparoscopic extenders, and (c) comparative study of different designs in search of the optimal design(s). The objective of this report is to have a systematic synthesis of the joints, as well as formulate the dexterous workspace for laparoscopic extenders with flexible stem, in order to find the optimum design. |
| CC : | 001D12E06; 002B24E08 |
| FD : | Mécanisme articulé; Synthèse mécanisme; Préhenseur; Chirurgie; Endoscope; Coeliochirurgie |
| ED : | Linkage mechanism; Mechanism synthesis; Gripper; Surgery; Endoscope; Laparoscopic surgery |
| SD : | Mecanismo articulado; Síntesis mecanismo; Prensor(robot); Cirugía; Endoscopio; Cirugía laparoscopica |
| LO : | INIST-6120L2.354000068389580120 |
| ID : | 97-0502401 |
Links to Exploration step
Pascal:97-0502401Le document en format XML
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Payandeh</name><affiliation><inist:fA14 i1="01"><s1>Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University</s1><s2>Burnaby, British Columbia, V5A 1S6</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">97-0502401</idno><date when="1997">1997</date><idno type="stanalyst">PASCAL 97-0502401 INIST</idno><idno type="RBID">Pascal:97-0502401</idno><idno type="wicri:Area/PascalFrancis/Corpus">001654</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Synthesis and workspace study of endoscopic extenders with flexible stem</title><author><name sortKey="Faraz, A" sort="Faraz, A" uniqKey="Faraz A" first="A." last="Faraz">A. 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However, indirect vision, limited hand movement and lack of haptic sensation, combined with the tiring posture of holding long tools makes it a very difficult task for the surgeon to perform (Tendick, 93; Faraz, June, 95). Consequently, the surgeon has a fraction of the dexterity and sensing of that of open surgery. This is specially the case in laparoscopic surgery which is a specific branch of endoscopic surgery, and is performed on the abdomen. The dexterity problem associated with laparoscopic surgery arises from the fact that the present rigid stem extenders can approach the surgical site with some fix orientation (determined by the connecting line between the position of surgical site and the port of entry). Lack of 2 DOF at the stem, to orient the tool's tip to the desired orientation near the surgical site, prevents the surgeon from having the required dexterity and agility. By adding revolute/spherical joints on the stem, the required internal capability in orienting the tool can be achieved, and hence provide more dexterity for the surgeon. Although, there has been some publication in the literature about different design possibilities (e.g., Rinninsland, 93; Melzer, 93; Neisius, 94), as well as U.S. patents (Matsumaru, 92; Heimberger, 94), they are all dealing with special designs with specific design focus. There is a lack of general study of flexible endoscopic extenders with wider design objectives. For example, such objectives can be: (a) general type synthesis of the joint design, (b) formulation of workspace requirements of laparoscopic extenders, and (c) comparative study of different designs in search of the optimal design(s). 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However, indirect vision, limited hand movement and lack of haptic sensation, combined with the tiring posture of holding long tools makes it a very difficult task for the surgeon to perform (Tendick, 93; Faraz, June, 95). Consequently, the surgeon has a fraction of the dexterity and sensing of that of open surgery. This is specially the case in laparoscopic surgery which is a specific branch of endoscopic surgery, and is performed on the abdomen. The dexterity problem associated with laparoscopic surgery arises from the fact that the present rigid stem extenders can approach the surgical site with some fix orientation (determined by the connecting line between the position of surgical site and the port of entry). Lack of 2 DOF at the stem, to orient the tool's tip to the desired orientation near the surgical site, prevents the surgeon from having the required dexterity and agility. By adding revolute/spherical joints on the stem, the required internal capability in orienting the tool can be achieved, and hence provide more dexterity for the surgeon. Although, there has been some publication in the literature about different design possibilities (e.g., Rinninsland, 93; Melzer, 93; Neisius, 94), as well as U.S. patents (Matsumaru, 92; Heimberger, 94), they are all dealing with special designs with specific design focus. There is a lack of general study of flexible endoscopic extenders with wider design objectives. For example, such objectives can be: (a) general type synthesis of the joint design, (b) formulation of workspace requirements of laparoscopic extenders, and (c) comparative study of different designs in search of the optimal design(s). The objective of this report is to have a systematic synthesis of the joints, as well as formulate the dexterous workspace for laparoscopic extenders with flexible stem, in order to find the optimum design.</EA><CC>001D12E06; 002B24E08</CC><FD>Mécanisme articulé; Synthèse mécanisme; Préhenseur; Chirurgie; Endoscope; Coeliochirurgie</FD><ED>Linkage mechanism; Mechanism synthesis; Gripper; Surgery; Endoscope; Laparoscopic surgery</ED><SD>Mecanismo articulado; Síntesis mecanismo; Prensor(robot); Cirugía; Endoscopio; Cirugía laparoscopica</SD><LO>INIST-6120L2.354000068389580120</LO><ID>97-0502401</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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