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Actuation and Integration of a Suturing Device into the DLR MiroSurge System

Kirst, Alexander (2019) Actuation and Integration of a Suturing Device into the DLR MiroSurge System. DLR-Interner Bericht. DLR-IB-RM-OP-2020-61. Master's. Leibniz Universität Hannover. 134 S.

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With the increasing success of robot-assisted surgery, more and more robots are entering the operating room and enabling many new surgical techniques. In addition to enabling more and more new operating procedures and improving existing practices, care must also be taken to adapt already known techniques to this robot-assisted environment. One of the most important surgical procedures is surgical suturing. However, this causes problems for robot-assisted surgery. It is very time-consuming and challenging to automate. This work presents an approach for automated surgical suturing using a suturing instrument for the robotic system MiroSurge of the German Aerospace Center (DLR). An adapter is designed, which updates the control of all relevant degrees of freedom for the suturing instrument. In addition to the mechanical design of the adapter, both the motor control and the kinematic modelling are presented in this paper. A prototype of the interface is then evaluated in various tests. The adapter presented in this work lays the foundation for automated minimally invasive suturing with the MiroSurge platform.

Item URL in elib:https://elib.dlr.de/134808/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Actuation and Integration of a Suturing Device into the DLR MiroSurge System
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:December 2019
Refereed publication:No
Open Access:No
Number of Pages:134
Keywords:suturing, suturing device, actuation, integration, DLR MiroSurge, Miro
Institution:Leibniz Universität Hannover
Department:Fakultät für Maschinenbau
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 - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Kirst, Alexander
Deposited On:04 Jun 2020 13:50
Last Modified:04 Jun 2020 13:50

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