Details
| Original language | English |
|---|---|
| Title of host publication | Experimental Robotics IX |
| Subtitle of host publication | The 9th International Symposium on Experimental Robotics |
| Editors | Marcelo Ang, Oussama Khatib |
| Pages | 153-164 |
| Number of pages | 12 |
| Publication status | Published - 6 Mar 2006 |
| Externally published | Yes |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 21 |
| ISSN (Print) | 1610-7438 |
| ISSN (electronic) | 1610-742X |
Abstract
Minimally invasive surgery (MIS) challenges the surgeon's skills due to his separation from the operation area which can be reached with long instruments only. Therefore, the surgeon loses access to the manipulation forces inside the patient. This reduces his 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, a standard sensor is attached to a modified trocar outside the patient, which allows for the measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of first force control experiments are presented to show the feasibility of the concepts.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
Cite this
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Experimental Robotics IX: The 9th International Symposium on Experimental Robotics. ed. / Marcelo Ang; Oussama Khatib. 2006. p. 153-164 (Springer Tracts in Advanced Robotics; Vol. 21).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing
AU - Zemiti, Nabil
AU - Ortmaier, Tobias
AU - Vitrani, Marie Aude
AU - Morel, Guillaume
PY - 2006/3/6
Y1 - 2006/3/6
N2 - Minimally invasive surgery (MIS) challenges the surgeon's skills due to his separation from the operation area which can be reached with long instruments only. Therefore, the surgeon loses access to the manipulation forces inside the patient. This reduces his 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, a standard sensor is attached to a modified trocar outside the patient, which allows for the measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of first force control experiments are presented to show the feasibility of the concepts.
AB - Minimally invasive surgery (MIS) challenges the surgeon's skills due to his separation from the operation area which can be reached with long instruments only. Therefore, the surgeon loses access to the manipulation forces inside the patient. This reduces his 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, a standard sensor is attached to a modified trocar outside the patient, which allows for the measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of first force control experiments are presented to show the feasibility of the concepts.
UR - http://www.scopus.com/inward/record.url?scp=33845426357&partnerID=8YFLogxK
U2 - 10.1007/11552246_15
DO - 10.1007/11552246_15
M3 - Contribution to book/anthology
AN - SCOPUS:33845426357
SN - 3540288163
SN - 9783540288169
T3 - Springer Tracts in Advanced Robotics
SP - 153
EP - 164
BT - Experimental Robotics IX
A2 - Ang, Marcelo
A2 - Khatib, Oussama
ER -