Title :
Robotic telemanipulator for laparoscopy
Author :
Neisius, B. ; Dautzenberg, P. ; Trapp, R. ; Bueß, G.
Author_Institution :
Hauptabteilung Ingenieurtech., Forschungszentrum Karlsruhe GmbH, Germany
Abstract :
A concept of a telemanipulator for laparoscopic surgery is presented. It enables endoscopic handling of surgical effecters and cameras inside the abdominal cavity with six degrees of freedom of motion through a trocar tube 12 mm in diameter. The kinematical structure consists of fourteen axes articulated by six electrical servo drives
Keywords :
cameras; manipulator kinematics; motion control; servomechanisms; surgery; telerobotics; 12 mm; abdominal cavity; cameras; endoscopic handling; fourteen axes; kinematical structure; laparoscopic surgery; laparoscopy; robotic telemanipulator; six degrees of freedom; six electrical servo drives; surgical effecters; trocar tube; Abdomen; Laparoscopes; Minimally invasive surgery; Motion control; Robot kinematics; Robot vision systems; Servomechanisms; Space technology; Surges; Surgical instruments;
Conference_Titel :
Engineering in Medicine and Biology Society, 1995., IEEE 17th Annual Conference
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-2475-7
DOI :
10.1109/IEMBS.1995.579640
