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Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback

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.



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/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Seibold, UlrichUlrich.Seibold (at) dlr.deUNSPECIFIED
Kübler, BernhardBernhard.Kuebler (at) dlr.deUNSPECIFIED
Thielmann, SophieSophie.Thielmann (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:12 May 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
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
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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