Telemanipulator for remote minimally invasive surgery

Author

Hagn, Ulrich ; Ortmaier, Tobias ; Konietschke, Rainer ; Kübler, Bernhard ; Seibold, Ulrich ; Tobergte, Andreas ; Nickl, Mathias ; Jorg, Stefan ; Hirzinger, Gerd

Author_Institution

Inst. of Robot. & Mechatron., German Aerosp. Centre, Wessling

Volume

15

Issue

4

fYear

2008

Firstpage

28

Lastpage

38

Abstract

The requirements for an ideal telemanipulator (i.e., robot and surgical instrument) are derived. An overview on telemanipulators reported in literature is given. The new robot for telepresence surgery developed by German Aerospace Center (DLR) is presented in detail in the "DLR Robot" section. Surgical instruments equipped with miniaturized force-torque sensors and additional DoF at the distal end, also developed by DLR, are described in the "DLR Instruments" section. The last section concludes this article and gives directions for further research.

Keywords

manipulators; medical robotics; telerobotics; MIS; intuitive direct hand-eye coordination; invariant fulcrum point; open surgery; remote minimally invasive surgery; surgeon works; telemanipulator; visceral cavity; Appropriate technology; Blood; Hospitals; Minimally invasive surgery; Pain; Robot kinematics; Robot sensing systems; Surges; Surgical instruments; Wounds; Medical robotics; force feedback; minimally invasive robotic surgery; robot development; telemanipulation;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2008.929925

Filename

4658318