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MICA - A new generation of versatile instruments in robotic surgery

Thielmann, Sophie and Seibold, Ulrich and Haslinger, Robert and Passig, Georg and Bahls, Thomas and Jörg, Stefan and Nickl, Mathias and Nothhelfer, Alexander and Hagn, Ulrich and Hirzinger, Gerhard (2010) MICA - A new generation of versatile instruments in robotic surgery. IROS 2010, IEEE International Conference on Intelligent Robots and Systems, 18.-22. Okt. 2010, Taipeh, Taiwan.

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Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost of care can be met if these systems are employable in a flexible manner for a large variety of procedures. To protect the initial investment the capabilities of a robotic system need to be expandable as new tasks arise. To oblige the needs of future robotic support in hospitals, the German Aerospace Center (DLR) has developed the versatile robotic system MiroSurge for medical applications. This paper presents a 3 DoF instrument for Minimally Invasive Robotic Surgery which is mounted to the hollow wrist of the DLR MIRO robot arm. The MICA instrument consists of a versatile drive train and a detachable task specific tool with its tool interface, shaft, 2 DoF wrist, 7 DoF force/torque sensor and the actuated functional end. With the current cabledriven tool, gripping and manipulation forces of above 10 N are feasible and dynamics is high enough for surgery at the beating heart.

Document Type:Conference or Workshop Item (Speech)
Title:MICA - A new generation of versatile instruments in robotic surgery
AuthorsInstitution or Email of Authors
Thielmann, SophieSophie.Thielmann@dlr.de
Seibold, UlrichUlrich.Seibold@dlr.de
Haslinger, RobertRobert.Haslinger@dlr.de
Passig, GeorgGeorg.Passig@dlr.de
Bahls, ThomasThomas.Bahls@dlr.de
Jörg, StefanStefan.Joerg@dlr.de
Nickl, MathiasMathias.Nickl@dlr.de
Nothhelfer, AlexanderAlexander.Nothhelfer@dlr.de
Hagn, UlrichUlrich.Hagn@dlr.de
Hirzinger, GerhardGerhard.Hirzinger@dlr.de
Date:October 2010
Keywords:Medical robots, instruments for surgery, versatility
Event Title:IROS 2010, IEEE International Conference on Intelligent Robots and Systems
Event Location:Taipeh, Taiwan
Event Type:international Conference
Event Dates:18.-22. Okt. 2010
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 - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Sophie Thielmann
Deposited On:12 Jan 2011 13:51
Last Modified:12 Dec 2013 21:12

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