Robotic Hand-Held Surgical Device: Evaluation of End-Effector’s Kinematics and Development of Proof-of-Concept Prototypes

摘要：

We are working towards the development of a robotic handheld surgical device for laparoscopic interventions that enhances the surgeons dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results.

作者: Ali Hassan Zahraee Jerome Szewczyk Jamie Kyujin Paik Guillaume Morel

作者单位: Institut des Systemes Intelligents et de RobotiqueUniversite Pierre et Marie Curie - Paris VI, 4, pl Harvard Microrobotics Lab Institut des Systemes Intelligents et de Robotique Universite Pierre et Marie Curie - Paris VI, 4, p

会议类型: 国际会议

会议名称: The 13th International Conference on Medical Image Computing and Computer-Assisted Intervention(第13届医学影像计算与计算机辅助介入国际会议 MICCAI 2010)

会议地点: 北京

会议语种:英文

页码: 432–439

在线出版日期: 2010-09-01（万方平台首次上网日期，不代表论文的发表时间）