Mechatronic design of a hand-held instrument with active trocar for taparoscopy
(2011) IEEE International Conference on Robotics and Automation (ICRA2011) — Location: Shanghai (CN) (9.May.2011)
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Details
- Authors
- Abstract
- Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible and some tasks like suturing are difficult to perform with them. A novel hand-held, lightweight and ergonomic mechatronic instrument is presented in this paper. The instrument has a 3-DOF roll-pitch-roll end-effector controlled using an easy to use handle that provides the surgeon with a 6-DOF movement, including a distal circular movement which resembles the circular movement of stitching. The design of the instrument is based on a global study involving control, dexterity and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive and ergonomic interface. A proof of concept prototype was built and tested in vitro and in vivo.
- Affiliations
Université Pierre et Marie-Curie - CNRS Institut des Systèmes Intelligents et de Robotique
Citations
Hassan-Zahraee, A., Herman, B., & Szewczyk, J. (2011). Mechatronic design of a hand-held instrument with active trocar for taparoscopy. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2011), 1890-1895. https://hdl.handle.net/2078.5/221740