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Toward robot guided waterjet surgery

Bahls, Thomas and Fröhlich, Florian and Albu-Schäffer, Alin (2013) Toward robot guided waterjet surgery. In: CURAC 12.Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter Assistierte Chriurgie, 81 bis 85. CURAC: 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter Assistierte Chirurgie, 28.-30. Nov. 2013, Insbruck östereich.

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Abstract

Papachristou and Bartes [1] first used a waterjet in the medical context. By using a waterjet in ablative liver surgery intrahepatic parenchyma could be washed away whereas vessels and ducts stay undamaged and intact which leads to less interoperative loss of blood. The aspect of tissue selectivity is one of the major advantages of using a waterjet to prepare soft tissue. This work first explains the physical basics of this method and differs between relevant properties which are responsible for the cutting effect. From that, the method of handling a waterjet applicator is derived. Furthermore, the restrictions of handling a waterjet applicator in laparoscopic surgery are shown and a robotic supported solution for this problem is announced. Finally, first experiments of the robotic solution using gelatin samples are presented and discussed.

Item URL in elib:https://elib.dlr.de/86452/
Document Type:Conference or Workshop Item (Speech)
Title:Toward robot guided waterjet surgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bahls, ThomasThomas.Bahls (at) dlr.deUNSPECIFIED
Fröhlich, FlorianFlorian.Froehlich (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:28 November 2013
Journal or Publication Title:CURAC 12.Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter Assistierte Chriurgie
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:81 bis 85
Editors:
EditorsEmail
Freysinger, WolfgangWolfgang.Freysinger@i-med.ac.at
Status:Published
Keywords:Waterjet Surgery, Medical Robotics, Minimally Invasive Robotic Surgery
Event Title:CURAC: 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter Assistierte Chirurgie
Event Location:Insbruck östereich
Event Type:national Conference
Event Dates:28.-30. Nov. 2013
Organizer:CURAC
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Bahls, Thomas
Deposited On:11 Dec 2013 15:45
Last Modified:31 Jul 2019 19:43

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