Entwicklung eines kauterfähigen Aufsatzes für ein robotisches Chirurgieinstrument

Abstract

Electrosurgery applications have become an integral part of surgery, especially in minimally invasive surgery. As electrosurgery is one of the most common surgical procedures it is necessary for a robotic surgery system to have this technology included. In this thesis the application of the electrosurgery technology to a robotic system for medical applications is introduced. To use the advantages of electrosurgery for the MiroSurge system, which was developed at the German Aerospace Center (DLR), an attachment for the claws of the instrument was developed. This attachment allows grasping the tissue while simultaneously coagulating the tissue in between the claws. Furthermore, the radiofrequency currents are insulated from the claws of the instrument to inhibit any disturbances of the force torque sensor behind the claws of the instrument. The attachments have been verified in an experiment