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
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;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570167
