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Design of a robotic instrument for minimally invasive waterjet surgery

Schlenk, Christopher and Schwier, Andrea and Heiss, Michael and Bahls, Thomas and Albu-Schäffer, Alin Olimpiu (2019) Design of a robotic instrument for minimally invasive waterjet surgery. In: 2019 International Symposium on Medical Robotics (ISMR), pp. 1-7. 2019 International Symposium on Medical Robotics (ISMR), 03.-05.04.2019, Atlanta, GA, USA. DOI: 10.1109/ISMR.2019.8710186 ISBN 978-1-5386-7825-1

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Official URL: https://ieeexplore.ieee.org/document/8710186

Abstract

Using a pressurized waterjet for cutting or abrasing tissue is a well established method in surgery. This paper presents a robotic tool for minimally invasive waterjet surgery with two degrees of freedom, integrated suction and an optional splash protection. The function of the tool and the effect of the splash protection on the suction of the applicated water was successfully evaluated in tests with ballistic gelatine. Based on this evaluated design, a concept for further increasing the oscillation frequency of the instrument tip is introduced and the results of preliminary tests of a simplified mockup are shown.

Item URL in elib:https://elib.dlr.de/128032/
Document Type:Conference or Workshop Item (Speech)
Title:Design of a robotic instrument for minimally invasive waterjet surgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schlenk, ChristopherChristopher.Schlenk (at) dlr.deUNSPECIFIED
Schwier, AndreaAndrea.Schwier (at) dlr.deUNSPECIFIED
Heiss, MichaelUNSPECIFIEDUNSPECIFIED
Bahls, ThomasThomas.Bahls (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:April 2019
Journal or Publication Title:2019 International Symposium on Medical Robotics (ISMR)
Refereed publication:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/ISMR.2019.8710186
Page Range:pp. 1-7
ISBN:978-1-5386-7825-1
Status:Published
Keywords:Medical robotics, instrument, waterjet, surgery
Event Title:2019 International Symposium on Medical Robotics (ISMR)
Event Location:Atlanta, GA, USA
Event Type:international Conference
Event Dates:03.-05.04.2019
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 Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Schlenk, Christopher
Deposited On:28 Jun 2019 13:00
Last Modified:28 Jun 2019 13:00

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