Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 143-153 |
| Seitenumfang | 11 |
| Fachzeitschrift | IEEE/ASME Transactions on Mechatronics |
| Jahrgang | 12 |
| Ausgabenummer | 2 |
| Publikationsstatus | Veröffentlicht - Apr. 2007 |
| Extern publiziert | Ja |
Abstract
Minimally invasive surgery (MIS) challenges the surgeon's skills due to his/her separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon looses access to the manipulation forces inside the patient. This reduces his/her dexterity when performing the operation. A new compact and lightweight robot for MIS is presented, which allows for the measurement of manipulation forces. The main advantage of this concept is that no miniaturized force sensor has to be integrated into surgical instruments and inserted into the patient. Rather, outside the patient, a standard sensor is attached to a modified trocar, which allows for the undisturbed measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of in vitro and in vivo force control experiments are presented to validate the concepts.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Angewandte Informatik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
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in: IEEE/ASME Transactions on Mechatronics, Jahrgang 12, Nr. 2, 04.2007, S. 143-153.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery
AU - Zemiti, Nabil
AU - Morel, Guillaume
AU - Ortmaier, Tobias
AU - Bonnet, Nicolas
PY - 2007/4
Y1 - 2007/4
N2 - Minimally invasive surgery (MIS) challenges the surgeon's skills due to his/her separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon looses access to the manipulation forces inside the patient. This reduces his/her dexterity when performing the operation. A new compact and lightweight robot for MIS is presented, which allows for the measurement of manipulation forces. The main advantage of this concept is that no miniaturized force sensor has to be integrated into surgical instruments and inserted into the patient. Rather, outside the patient, a standard sensor is attached to a modified trocar, which allows for the undisturbed measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of in vitro and in vivo force control experiments are presented to validate the concepts.
AB - Minimally invasive surgery (MIS) challenges the surgeon's skills due to his/her separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon looses access to the manipulation forces inside the patient. This reduces his/her dexterity when performing the operation. A new compact and lightweight robot for MIS is presented, which allows for the measurement of manipulation forces. The main advantage of this concept is that no miniaturized force sensor has to be integrated into surgical instruments and inserted into the patient. Rather, outside the patient, a standard sensor is attached to a modified trocar, which allows for the undisturbed measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of in vitro and in vivo force control experiments are presented to validate the concepts.
KW - Force control
KW - Force measurement
KW - Minimally invasive surgery (MIS)
UR - http://www.scopus.com/inward/record.url?scp=34247381516&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2007.892831
DO - 10.1109/TMECH.2007.892831
M3 - Article
AN - SCOPUS:34247381516
VL - 12
SP - 143
EP - 153
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 2
ER -