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Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback

Seibold, Ulrich and Kübler, Bernhard and Thielmann, Sophie and Hirzinger, Gerd (2009) Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback. In: Proceedings. ICRA2009, International Conference on Robotics and Automation, 12. Mai - 17. Mai 2009, Kobe, Japan.

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Minimally invasive surgery (as previously discussed) is an operation technique advantageous for patients. However, surgeons have to contend with a number of disadvantages. With the development and commissioning of a robot supported, prototypic minimally invasive robotic surgery (MIRS) instrument the intracorporal manipulability as well as surgeon's immersion will be enhanced. This paper will give an outline of the endoscopic instrument consisting of 3 DoF actuation unit, 2 DoF joint, 7 DoF Force/Torque sensor, and functional end.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback
AuthorsInstitution or Email of Authors
Seibold, UlrichUlrich.Seibold@dlr.de
Kübler, BernhardBernhard.Kuebler@dlr.de
Thielmann, SophieSophie.Thielmann@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:12 May 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:Endoscopic 3 DoF-Instrument, Minimally Invasive Robotic Surgery
Event Title:ICRA2009, International Conference on Robotics and Automation
Event Location:Kobe, Japan
Event Type:international Conference
Event Dates:12. Mai - 17. Mai 2009
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:10
Last Modified:12 Dec 2013 20:52

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