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Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task

Deutschmann, Bastian and Konietschke, Rainer and Ott, Christian (2016) Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task. In: New Trends in Medical and Service Robots Mechanism and Machine Science, 38. Springer. pp. 141-152. ISBN 978-3-319-23831-9. ISSN 2211-0984

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Official URL: http://www.springer.com/in/book/9783319015910

Abstract

Abstract. In minimally invasive robotic surgery, actuated instruments are used that provide additional degrees of freedom (DoF) inside the human body. Kinematic limitations due to the instrument could endanger the secure execution of a surgical task. Numerous design alternatives are proposed in the literature whereas little work is done that evaluates the performance of these instruments in an objective way. This paper presents recent extensions towards a method from [1] to evaluate alternative designs of instrument kinematics with respect to their ability to perform surgical tasks. These extensions include further analysis of the task suturing”, one of the key tasks in robotic surgery, to extract the main components and generalize it with respect to the arbitrariness in which way this task occurs during a minimally invasive intervention. The paper concludes with more recent evaluation results and gives recommendations for instruments and their kinematic structure.

Item URL in elib:https://elib.dlr.de/101846/
Document Type:Contribution to a Collection
Title:Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deutschmann, BastianUNSPECIFIEDUNSPECIFIED
Konietschke, RainerUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDUNSPECIFIED
Date:January 2016
Journal or Publication Title:New Trends in Medical and Service Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:38
DOI :10.1007/978-3-319-23832-6
Page Range:pp. 141-152
Editors:
EditorsEmail
Bleuler, HannesUNSPECIFIED
Bouri, MohamedUNSPECIFIED
Mondada, FrancescoUNSPECIFIED
Pisla, DionaUNSPECIFIED
Rodic, AleksandarUNSPECIFIED
Helmer, PatrickUNSPECIFIED
Publisher:Springer
Series Name:Mechanism and Machine Science
ISSN:2211-0984
ISBN:978-3-319-23831-9
Status:Published
Keywords:Medical robotics, robotic telesurgery, kinematics, workspace analysis, laparoscopic suturing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Bastian
Deposited On:13 Jan 2016 11:31
Last Modified:31 Jul 2019 19:59

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