Mechatronic Design of a Hand-Held Instrument with Active Trocar for Laparoscopy
Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible and some tasks like suturing are difficult to perform with them. A novel hand-held, lightweight and ergonomic mechatronic instrument is presented in this paper. The instrument has a 3-DOF roll-pitch-roll end-effector controlled using an easy to use handle that provides the surgeon with a 6-DOF movement, including a distal circular movement which resembles the circular movement of stitching. The design of the instrument is based on a global study involving control, dexterity and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive and ergonomic interface. A proof of concept prototype was built and tested in vitro and in vivo.
Ali Hassan-Zahraee Beno(i)t Herman J(e)r(o)me Szewczyk
UPMC Univ Paris 06,UMR 7222,ISIR,F-75005,Paris,France and CNRS,UMR 7222,ISIR,F-75005,Paris,France F.R.S.-FNRS Postdoctoral Researcher with Universit(e) catholique de Louvain,Center for Research in M
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1890-1895
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）