Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA 2006 |
| Publisher | American Society of Mechanical Engineers(ASME) |
| ISBN (print) | 0791837793, 9780791837795 |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 - Torino, Italy Duration: 4 Jul 2006 → 7 Jul 2006 |
Publication series
| Name | Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 |
|---|---|
| Volume | 2006 |
Abstract
The development of a remotely operated, Co-Robotic Positioning Device (CRPD) for instrumental backing and optimal base position to robotic arms in tele-surgery is discussed. To optimise the setting of robotic operating rooms (ROR) by reducing the structures' size around the patient and by selecting task-driven layouts, the design of a hanging servo-carrier coming from the ceiling is chosen, rather than a device located on the floor. The present study prospects a split-duty approach, distinguishing the Co-Robotic Positioning Device, CRPD, from the front-end effectors, each subsystem hierarchically controlled by remote location, in keeping with optimal protocols. The attention is focused on the slave-carrier, to establish an optimal design of the CRPD, based on the characteristics of robotic effectors and the surgical task. The CRPD is conceived to support (up to four) robotic effectors, each one equipped with proper tools (endoscope, scalpels, scissors, suture needles, etc.). The CRPD, actually, by optimally positioning the robotic arms, avoids the need of manual deployment, in current setups often necessary to avoid singularities or collisions. The Automatic Changing Device for Surgical Tools, ACD-ST, is another significant device of the conceived slave-carrier. It allows the tele-operating surgeon to change the tools (scalpels, scissors, etc.) by a direct command from his console. Example applications aim at ticklish endoscopic/tomic operations that require high accuracy with low involved forces such as cardio-thoracic- surgery, abdominal surgery, spine-surgery, microsurgery (neurosurgery, hand-surgery, ophthalmic-surgery, ear-nose-throat surgery), say, the typical domains of MIRS, where robotic surgery is quickly expanding.
ASJC Scopus subject areas
- Engineering(all)
- General Engineering
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Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA 2006. American Society of Mechanical Engineers(ASME), 2006. (Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006; Vol. 2006).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A co-robotic positioning device for carrying surgical end-effectors
AU - Frumento, Silvia
AU - Michelini, Rinaldo C.
AU - Konietschke, Rainer
AU - Hagn, Ulrich
AU - Ortmaier, Tobias
AU - Hirzinger, Gerd
PY - 2006
Y1 - 2006
N2 - The development of a remotely operated, Co-Robotic Positioning Device (CRPD) for instrumental backing and optimal base position to robotic arms in tele-surgery is discussed. To optimise the setting of robotic operating rooms (ROR) by reducing the structures' size around the patient and by selecting task-driven layouts, the design of a hanging servo-carrier coming from the ceiling is chosen, rather than a device located on the floor. The present study prospects a split-duty approach, distinguishing the Co-Robotic Positioning Device, CRPD, from the front-end effectors, each subsystem hierarchically controlled by remote location, in keeping with optimal protocols. The attention is focused on the slave-carrier, to establish an optimal design of the CRPD, based on the characteristics of robotic effectors and the surgical task. The CRPD is conceived to support (up to four) robotic effectors, each one equipped with proper tools (endoscope, scalpels, scissors, suture needles, etc.). The CRPD, actually, by optimally positioning the robotic arms, avoids the need of manual deployment, in current setups often necessary to avoid singularities or collisions. The Automatic Changing Device for Surgical Tools, ACD-ST, is another significant device of the conceived slave-carrier. It allows the tele-operating surgeon to change the tools (scalpels, scissors, etc.) by a direct command from his console. Example applications aim at ticklish endoscopic/tomic operations that require high accuracy with low involved forces such as cardio-thoracic- surgery, abdominal surgery, spine-surgery, microsurgery (neurosurgery, hand-surgery, ophthalmic-surgery, ear-nose-throat surgery), say, the typical domains of MIRS, where robotic surgery is quickly expanding.
AB - The development of a remotely operated, Co-Robotic Positioning Device (CRPD) for instrumental backing and optimal base position to robotic arms in tele-surgery is discussed. To optimise the setting of robotic operating rooms (ROR) by reducing the structures' size around the patient and by selecting task-driven layouts, the design of a hanging servo-carrier coming from the ceiling is chosen, rather than a device located on the floor. The present study prospects a split-duty approach, distinguishing the Co-Robotic Positioning Device, CRPD, from the front-end effectors, each subsystem hierarchically controlled by remote location, in keeping with optimal protocols. The attention is focused on the slave-carrier, to establish an optimal design of the CRPD, based on the characteristics of robotic effectors and the surgical task. The CRPD is conceived to support (up to four) robotic effectors, each one equipped with proper tools (endoscope, scalpels, scissors, suture needles, etc.). The CRPD, actually, by optimally positioning the robotic arms, avoids the need of manual deployment, in current setups often necessary to avoid singularities or collisions. The Automatic Changing Device for Surgical Tools, ACD-ST, is another significant device of the conceived slave-carrier. It allows the tele-operating surgeon to change the tools (scalpels, scissors, etc.) by a direct command from his console. Example applications aim at ticklish endoscopic/tomic operations that require high accuracy with low involved forces such as cardio-thoracic- surgery, abdominal surgery, spine-surgery, microsurgery (neurosurgery, hand-surgery, ophthalmic-surgery, ear-nose-throat surgery), say, the typical domains of MIRS, where robotic surgery is quickly expanding.
UR - http://www.scopus.com/inward/record.url?scp=33845768486&partnerID=8YFLogxK
U2 - 10.1115/esda2006-95308
DO - 10.1115/esda2006-95308
M3 - Conference contribution
AN - SCOPUS:33845768486
SN - 0791837793
SN - 9780791837795
T3 - Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006
BT - Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA 2006
PB - American Society of Mechanical Engineers(ASME)
T2 - 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006
Y2 - 4 July 2006 through 7 July 2006
ER -