DocumentCode
2933581
Title
Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability
Author
Seibold, Ulrich ; Kubler, Bernhard ; Hirzinger, Gerd
Author_Institution
Institute of Robotics and Mechatronics German Space Center Münchnerstraße 20, 82234 Wessling, Germany ulrich.seibold@dlr.de
fYear
2005
fDate
18-22 April 2005
Firstpage
496
Lastpage
501
Abstract
Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon’s immersion and dexterity.
Keywords
Articulated Grasper; Force-Torque Sensor; Kinesthetic Feedback; Minimally Invasive Surgery; Sterilization; Force feedback; Haptic interfaces; Mechatronics; Minimally invasive surgery; Orbital robotics; Prototypes; Robot kinematics; Robot sensing systems; Surges; Surgical instruments; Articulated Grasper; Force-Torque Sensor; Kinesthetic Feedback; Minimally Invasive Surgery; Sterilization;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570167
Filename
1570167
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