DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics

Bahls, Thomas and Fröhlich, Florian Alexander and Hellings, Anja and Deutschmann, Bastian and Albu-Schäffer, Alin Olimpiu (2016) Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics. IEEE Transactions on Biomedical Engineering, PP (99). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TBME.2016.2553720. ISSN 0018-9294.

Full text not available from this repository.

Official URL: http://ieeexplore.ieee.org/document/7452603/


In waterjet surgery a thin, high pressure jet is used for dissections and surface abrasion of soft tissue. This selective preparation method preserves nerves and vessels whereas the surrounding soft tissue is washed away. Objective: The aim of the presented work is to enhance the application field of this technique by resolving technological limitations. Methods: A technical task definition of handling a hand-guided waterjet applicator is derived from literature. All reported procedures require to follow a trajectory superimposed with an oscillating movement. By introducing a robotic system and a specialized kinematic approach the limited dexterity of the waterjet applicator is increased. Additionally, the system provides assistance by automatically performing parts of the task. Results: The method is applied to two different procedures: a minimally invasive dissection, as well as a surface abrasion for open medical treatments. On the basis of experiments with gelatine phantoms the performance of the method is shown for both procedures. Conclusion: In the minimally invasive use case the reachability limited by the conventional manual tools is extended by the capabilities of the robotic system. Simultaneously, the handling is simplified by automation of the superimposed oscillation. In the surface abrasion case a dense coverage of the treated area is achievable. The risk of cross infections could be reduced by spatial separation of patient and staff. Significance: Thus, the waterjet technology can be fully integrated into robotic surgery systems and benefit from their inherent abilities.

Item URL in elib:https://elib.dlr.de/105887/
Document Type:Article
Title:Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115723
Date:14 April 2016
Journal or Publication Title:IEEE Transactions on Biomedical Engineering
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Waterjet Surgery, Medical Robotics, Minimally Invasive Robotic Surgery
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Medical Assistance Systems [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Bahls, Thomas
Deposited On:04 Nov 2016 13:07
Last Modified:03 Nov 2023 07:51

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.