Lightweight hand-held robot for laparoscopic surgery

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 599-604

  Focacci, Francesco ^a,b   Piccigallo, Marco ^a,b,c   Tonet, Oliver ^a,b   Megali, Giuseppe ^a,b   Pietrabissa, Andrea ^a,b   Dario, Paolo ^a,b  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

^b UNIVERSITY OF PISA   (Italy)

^c IMT SCHOOL FOR ADVANCED STUDIES LUCCA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); LIGHT WEIGHT STRUCTURES; REMOTE CONTROL; ROBOTICS; SURGERY;

HAND HELD INSTRUMENTS; INSTRUMENT DESIGN; LAPAROSCOPIC INSTRUMENT;

INDUSTRIAL ROBOTS;

EID: 36348942402     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363052     Document Type: Conference Paper

References (22)

1. D. Gossot and G. Lange, "Deflectable and rotatable endoscopie instrument with intuitive control," Minimally Invasive Therapy & Allied Technologies, vol. 10, no. 6, pp. 295-299, November 2001.
2. G. J. M. Tuijthof, S. J. M. P. van Engelen, J. L. Herder, R. H. M. Goossens, C. J. Snijders, and C. N. van Dijk, "Ergonomic handle for an arthroscopic cutter," Minimally Invasive Therapy & Allied Technologies, vol. 12, no. 1-2, pp. 82-90, March 2003.
3. M. Waseda, "Endoscopic suturing with a manual manipulator - Radius Surgical System," Minim Invas Ther, vol. 13, no. 5-6, p. 384, December 2004, abstract in Proc. 16th Conference of the Society for Medical Innovation and Technology - SMIT 2004.
4. M. Braun, "Surgical instrument," Applicant TUEBINGEN SCIENT SURGICAL PROD CT, Patent EP1486172 - 2004-12-15.
5. N. Matsuhira, M. Jinno, T. Miyagawa, T. Sunaoshi, T. Hato, Y. Morikawa, T. Furukawa, S. Ozawa, M. Kitajima, and K. Nakazawa, "Development of a functional model for a master slave combined manipulator for laparoscopic surgery," Advanced. Robotics, vol. 17, no. 6, pp. 523-539, 2003.
6. H. Yamashita, N. Hata, M. Hashizume, and T. Dohi, "Handheld laparoscopic forceps manipulator using multi-slider linkage mechanisms," Lecture Notes in. Computer Science, vol. 3217, pp. 121-128, 2004.
7. S. Takashi, N. Kazuo, F. Toshiharu, O. Soji, M. Yasuhide, K. Masaki, J. Makoto, and M. Nobuto, "Development of configuration differing master slave combined forceps," in The 8th IEEE International Workshop on Advanced Motion Control - AMC, March 2004, pp. 227-232.
8. P. Dario, M. C. Carrozza, M. Marcacci, S. D'Attanasio, B. Magnani, O. Tonet, and G. Megali, "A novel mechatronic tool for computer-assisted arthroscopy." IEEE Trans Inf Technol Biomed, vol. 4, no. 1, pp. 15-29, Mar 2000.
9. R. Nakamura, T. Oura, E. Kobayashi, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, M. Shimada, and M. Hashizume, "Multi-dof forceps manipulator system for laparoscopic surgery - mechanism miniaturized & evaluation of new interface," Lecture Notes in Computer Science, vol. 2208, pp. 606-613, 2001.
10. G. S. Guthart and J. K. Salisbury, 'The Intuitive™ telesurgery system; overview and application," in Proc. IEEE International Conference on Robotics and Automation - ICRA, 2000, pp. 618-621.
11. H. Reichen spurner, R. J. Damiano, M. Mack, D. H. Boehm, H. Gulbins, C. Detter, B. Meiser, R. Ellgass, and B. Reichart, "Use of the voice-controlled and computer-assisted surgical system zeus for endoscopic coronary artery bypass grafting." J Thorac Cardiovasc Surg, vol. 118, no. 1, pp. 11-16, Jul 1999.
12. H. Mayer, I. Nágy, A. Knoll, E. U. Schirmbeck, and R. Bauernschmitt, "An experimental system for robotic heart surgery," in IEEE 18th International Symposium on Computer-Based Medical Systems (CBMS), Dublin, Ireland, June 2005.
13. Z. Nawrat and P. Kostka, "Polish cardio-robot 'Robin Heart', system description and technical evaluation," bit J Medical Robotics and Comp Ass Surgery, vol. 2, no. 2, pp. 36-44, 2006.
14. J. E. N. Jaspers and C. A. Grimbergen, "Mechanical manipulator for intuitive control of endoscopic instruments with seven degrees of freedom," in Systems, Man and Cybernetics, 2004 IEEE International Conference on, vol. 3, 2004, pp. 2479-2485.
15. A. J. Madhani and J. K. Salisbury, "Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity," Applicant INTUITIVE SURGICAL INC, Patent US5797900 - 1998-08-25.
16. J. K. Salisbury, W. T. Townsend, D. M. Dipietro, and B. S. Eberman, "Compact cable transmission with cable differential," Applicant MAS-SACHUSETTS INST TECHNOLOGY, Patent US4903536 - 1990-02-27.
17. M. J. Tierney, T. G. Cooper, C. A. Julian, S. J. Blumerkranz, G. S. Guthart, and R. G. Younge, "Mechanical actuator interface system for robotic surgical tools," Applicant INTUITIVE SURGICAL INC, Patent US2003083673 - 2003-05-01.
18. J. D. Brown, J. Rosen, L. Chang, M. Sinanan, and B. Hannaford, "Quantifying surgeon grasping mechanics in laparoscopy using the blue dragon system," Medicine Meets Virtual Reality, vol. 13, pp. 34-36, 2004.
19. C. Richards, J. Rosen, B. Hannaford, C. Pellegrini, and M. Sinanan, "Skills evaluation in minimally invasive surgery using force/torque signatures," Surgical endoscopy, vol. 14, pp. 791-798, 2000.
20. D. T. Wallace, C. A. Julian, T. A. Morley, and D. S. Baron, "Surgical tools for use in minimally invasive telesurgical applications," Applicant INTUITIVE SURGICAL INC, Patent US2002111621 - 2002-08-15.
21. M. Kaneko, W. Paetsch, and H. Tolle, "Input-dependent stability of joint torque control of tendon-driven robot hands," IEEE Transactions on Industrial Electronics, vol. 39, no. 2, pp. 96-104, April 1992.
22. O. Tonet, F. Focacci, M. Piccigallo, F. Cavallo, M. Uematsu, G. Megali, and P. Dario, "Comparison of control modes of a hand-held robot for laparoscopic surgery," Lecture Notes in Computer Science, vol. 4190, pp. 429-436, 2006.