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Task Specific Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery

Deutschmann, Bastian and Konietschke, Rainer and Albu-Schäffer, Alin (2013) Task Specific Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). International Conference on Intelligent Robots and Systems, 03.-08. Nov.2013, Tokyo, Japan. ISSN 1042-296X

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Official URL: http://www.iros2013.org/

Abstract

In minimally invasive robotic surgery, slender instruments are used that provide additional degrees of freedom inside the human body. Kinematic limitations due to the instrument could endanger the secure execution of a surgical task. Numerous design alternatives are proposed in literature whereas few work is done that evaluates the performance of these instruments objectively. This paper presents a new method to evaluate alternative designs of instrument kinematics with respect to their ability to perform surgical tasks. Two specific criteria are set up accounting for the limited space during a minimally invasive intervention as well as for the ability to execute the desired task. The evaluation is based on task specific reference trajectories which are recorded in one orientation. During robotic surgery, arbitrary orientations of this area can occur. The method is able to handle this by rotating the acquired reference trajectories within software. The presented method is independent from the setup, i.e. the relative position and orientation of the area of interest with respect to the trocar location. Four different examples demonstrate the application of the method to show its usefulness.

Item URL in elib:https://elib.dlr.de/85386/
Document Type:Conference or Workshop Item (Speech)
Title:Task Specific Evaluation of Kinematic Designs for Instruments in Minimally Invasive Robotic Surgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deutschmann, Bastianbastian.deutschmann (at) dlr.deUNSPECIFIED
Konietschke, RainerRainer.Konietschke (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Series Name:Proceedings of IEEE/RSJ International COnference on Intelligent Robots and Systems
ISSN:1042-296X
Status:Published
Keywords:Surgical Robotics, Kinematics, Mechanism Design
Event Title:International Conference on Intelligent Robots and Systems
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:03.-08. Nov.2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Deutschmann, Bastian
Deposited On:18 Dec 2013 13:44
Last Modified:09 Feb 2017 19:19

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