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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 2019, 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. ISSN 2771-9049.
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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/141614/ | ||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||
| Additional Information: | Copyright notice for PDF: 978-1-5386-7825-1/19/$31.00 ©2019 IEEE The original IEEE publication can be found at https://ieeexplore.ieee.org/document/8710186 | ||||||||||||||||||
| Title: | Design of a robotic instrument for minimally invasive waterjet surgery | ||||||||||||||||||
| Authors: |
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| Date: | April 2019 | ||||||||||||||||||
| Journal or Publication Title: | 2019 International Symposium on Medical Robotics, ISMR 2019 | ||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||
| DOI : | 10.1109/ISMR.2019.8710186 | ||||||||||||||||||
| Page Range: | pp. 1-7 | ||||||||||||||||||
| ISSN: | 2771-9049 | ||||||||||||||||||
| 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 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) > Mechatronic Systems | ||||||||||||||||||
| Deposited By: | Schlenk, Christopher | ||||||||||||||||||
| Deposited On: | 28 Apr 2021 14:49 | ||||||||||||||||||
| Last Modified: | 25 Mar 2022 12:59 |
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