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Seibold, Ulrich and Kübler, Bernhard and Thielmann, Sophie and Hirzinger, Gerd (2009) Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback. In: Proceedings. ICRA2009, International Conference on Robotics and Automation, 12. Mai - 17. Mai 2009, Kobe, Japan.
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Abstract
Minimally invasive surgery (as previously discussed) is an operation technique advantageous for patients. However, surgeons have to contend with a number of disadvantages. With the development and commissioning of a robot supported, prototypic minimally invasive robotic surgery (MIRS) instrument the intracorporal manipulability as well as surgeon's immersion will be enhanced. This paper will give an outline of the endoscopic instrument consisting of 3 DoF actuation unit, 2 DoF joint, 7 DoF Force/Torque sensor, and functional end.
| Item URL in elib: | https://elib.dlr.de/62638/ | |||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||||||||
| Title: | Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback | |||||||||||||||
| Authors: |
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| Date: | 12 May 2009 | |||||||||||||||
| Journal or Publication Title: | Proceedings | |||||||||||||||
| Refereed publication: | Yes | |||||||||||||||
| Open Access: | Yes | |||||||||||||||
| Gold Open Access: | No | |||||||||||||||
| In SCOPUS: | No | |||||||||||||||
| In ISI Web of Science: | No | |||||||||||||||
| Status: | Published | |||||||||||||||
| Keywords: | Endoscopic 3 DoF-Instrument, Minimally Invasive Robotic Surgery | |||||||||||||||
| Event Title: | ICRA2009, International Conference on Robotics and Automation | |||||||||||||||
| Event Location: | Kobe, Japan | |||||||||||||||
| Event Type: | international Conference | |||||||||||||||
| Event Dates: | 12. Mai - 17. Mai 2009 | |||||||||||||||
| Organizer: | IEEE | |||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport (old) | |||||||||||||||
| HGF - Program: | Space (old) | |||||||||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
| DLR - Research area: | Space | |||||||||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | |||||||||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | |||||||||||||||
| Location: | Oberpfaffenhofen | |||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | |||||||||||||||
| Deposited By: | Beinhofer, Gabriele | |||||||||||||||
| Deposited On: | 14 Jan 2010 17:10 | |||||||||||||||
| Last Modified: | 31 Jul 2019 19:26 |
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