DocumentCode
2686274
Title
A novel piezoelectric driven laparoscopic instrument with multiple degree of freedom parallel kinematic structure
Author
Röse, A. ; Wohlleber, C. ; Kassner, S. ; Schlaak, H.F. ; Werthschützky, R.
Author_Institution
Dept. of Electr. Eng. & Inf. Technol., Tech. Univ. Darmstadt, Darmstadt, Germany
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
2162
Lastpage
2167
Abstract
The development of a novel actuator driven laparoscopic instrument with parallel kinematic instrument tip serves to overcome the workspace restrictions of classic laparoscopic instruments and provides the surgeon multiple degrees of freedom (DOF) inside the patients body.
Keywords
kinematics; medical control systems; piezoelectric actuators; actuator driven laparoscopic instrument; laparoscopic instruments; multiple degree of freedom; parallel kinematic instrument tip; parallel kinematic structure; piezoelectric driven laparoscopic instrument; Abdomen; Actuators; Cables; Instruments; Kinematics; Laparoscopes; Minimally invasive surgery; Shafts; Surges; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location
St. Louis, MO
Print_ISBN
978-1-4244-3803-7
Electronic_ISBN
978-1-4244-3804-4
Type
conf
DOI
10.1109/IROS.2009.5354507
Filename
5354507
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