Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability

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...

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Bibliographische Detailangaben
Hauptverfasser:	Seibold, U., Kubler, B., Hirzinger, G.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Articulated Grasper Force feedback Force-Torque Sensor Haptic interfaces Kinesthetic Feedback Mechatronics Minimally invasive surgery Orbital robotics Prototypes Robot kinematics Robot sensing systems Sterilization Surges Surgical instruments
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Beschreibung
Zusammenfassung:	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.
ISSN:	1050-4729 2577-087X
DOI:	10.1109/ROBOT.2005.1570167