MICA - A new generation of versatile instruments in robotic surgery

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 871-878

  Thielmann, Sophie ^b   Seibold, Ulrich ^b   Haslinger, Robert ^b   Passig, Georg ^b   Bahls, Thomas ^b   Jörg, Stefan ^b   Nickl, Mathias ^b   Nothhelfer, Alexander ^b   Hagn, Ulrich ^b   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b NONE

Author keywords

[No Author keywords available]

Indexed keywords

BEATING HEART; CURRENT CABLES; DRIVE TRAIN; FORCE/TORQUE SENSOR; GERMAN AEROSPACE CENTERS; LOWER COST; MINIMALLY INVASIVE; ROBOT ARMS; ROBOTIC SURGERY; ROBOTIC SURGERY SYSTEMS; ROBOTIC SYSTEMS; SPECIFIC TOOL; TOOL INTERFACE;

INSTRUMENTS; INTELLIGENT ROBOTS; MEDICAL APPLICATIONS; MICA; ROBOTICS; SILICATE MINERALS; SURGERY;

SURGICAL EQUIPMENT;

EID: 78651501024     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649984     Document Type: Conference Paper

References (16)

1. Ulrich Hagn, R. Konietschke, A. Tobergte, M. Nickl, S. Jörg, B. Kübler, G. Passig, M. Gröger, F. Fröhlich, U. Seibold, L. Le-Tien, A. Albu-Schäffer, A. Nothhelfer, F. Hacker, M. Grebenstein, and G. Hirzinger. DLR MiroSurge: a versatile system for research in endoscopic telesurgery. International Journal of Computer Assisted Radiology and Surgery, 2009.
2. G. Guthart and J. Salisbury. The intuitive telesurgery system: Overview and application. In Procedings of the IEEE International Conference on Robotics and Automation (ICRA), volume 1, pages 618-621, San Francisco, CA, USA, April 2000. ISBN 0-7803-5886-4.
3. Jacob Rosen and Blake Hannaford. Doc at a distance. IEEE Spectrum, pages 34-39, October 2006.
4. Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabea, Masafumi Okada, and Yoshihiko Nakamura. Small occupancy robotic mechanisms for endoscopic surgery. In Takeyoshi Dohi and Ron Kikins, editors, MICCAI - Medical Image Computing and Computer-Assisted Intervention, volume 2488 of Lecture Notes in Computer Science, pages 75-82. Springer, September 2002.
5. Jumpei Arata, Mamoru Mitsuishi, Shinichi Warisawa, Katsuya Tanaka, Takashi Yoshizawa, and Makoto Hashizume. Development of a dexterous minimally-invasive surgical system with augmented force feedback capability. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
6. H. Yamashita, A. Iimura, E. Aoki, T. Suzuki, T. Nakazawa, E. Kobayashi, M. Hashizume, I. Sakuma, and T. Dohi. Development of endoscopic forceps manipulator using multi-slider linkage mechanisms. In Proceeding of the 1st Asian Symposium on Computer Aided Surgery - Robotic and Image guided Surgery, Ibaraki, Japan, April 2005.
7. Kanako Harada, Kota Tsubouchi, Masakatsu G. Fujie, and Toshio Chiba. Micro manipulators for intrauterine fetal surgery in an open mri. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 502- 507, 2005.
8. U. Seibold, B. Kuebler, and G. Hirzinger. Medical Robotics, chapter Prototypic force feedback instrument for minimally invasive robotic surgery, pages 377-400. I-Tech Education and Publishing, Vienna, Austria, 2008. ISBN-13: 978-3-902613-18-9.
9. T. Ortmaier, M. Gröger, D.H. Boehm, V. Falk, and G. Hirzinger. Motion estimation in beating heart surgery. IEEE Transactions on Biomedical Engineering (TBME), 52(10):1729-1740, October 2005.
10. M. Nickl, S. Jörg, and G. Hirzinger. The virtual path: The domain model for the design of the miro surgical robotic system. IFAC, http://www.ifac-papersonline.net/, 2009.
11. IC Haus, http://www.ichaus.com. BiSS Interface Protocol Description (C-Mode), c1 edition, 2007.
12. European Cooperation for Space Standardization (ECSS), http://spacewire.esa.int. ECSS E-50-12A SpaceWire - Links, nodes, routers and networks, 2003.
13. Albert Benveniste and Gèrard Berry. The synchronous approach to reactive and real-time systems. P-IEEE, 79(9):1270-1282, September 2001.
14. S. Jörg, M. Nickl, and G. Hirzinger. Flexible signal-oriented hardware abstraction for rapid prototyping of robotic systems. In IROS 2006, pages 3755 - 3760, Peking, October 2006.
15. N.P. Quang and J.A. Dittrich. Vector Control of Three-Phase AC Machines. Springer, 2008.
16. www.qnx.com. Qnx software systems.