Details
| Original language | English |
|---|---|
| Title of host publication | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Pages | 3643-3648 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan Duration: 28 Sept 2004 → 2 Oct 2004 |
Publication series
| Name | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Volume | 4 |
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, 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 first force control experiments are presented to show the feasibility of the concepts.
ASJC Scopus subject areas
- Engineering(all)
- General Engineering
Cite this
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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2004. p. 3643-3648 (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A New Robot for Force Control in Minimally Invasive Surgery
AU - Zemiti, Nabil
AU - Ortmaier, Tobias
AU - Morel, Guillaume
PY - 2004
Y1 - 2004
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, 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 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, 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 first force control experiments are presented to show the feasibility of the concepts.
UR - http://www.scopus.com/inward/record.url?scp=14044255927&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:14044255927
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 3643
EP - 3648
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -