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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 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


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/
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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schlenk, ChristopherChristopher.Schlenk (at) dlr.deUNSPECIFIED
Schwier, AndreaAndrea.Schwier (at) dlr.deUNSPECIFIED
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 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/ISMR.2019.8710186
Page Range:pp. 1-7
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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