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Wimmer, Alexandra und Deutschmann, Bastian und Kuebler, Bernhard und Rink, Christian und Hirzinger, Gerd (2013) Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 5433-5440. IEEE. International Conference on Robotics and Automation ICRA2013, 2013-05-06 - 2013-05-10, Karlsruhe, Deutschland. doi: 10.1109/ICRA.2013.6631359. ISBN 978-1-4673-5641-1. ISSN 1050-4729.
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Offizielle URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6631359
Kurzfassung
Feedback of interaction forces/torques in robot supported minimally invasive surgery (MIRS) meanwhile is a widely accepted advantage. To avoid parasitic effects on the according force/torque sensor, e. g. due to friction in the trocar, a sensor integration as distal as possible is advisable. Since common sensor principles are based on wire or fibre connection and since an axisymmetrical instrument's distal end has to be actuated in at least one additional degree of freedom (DoF) for full dexterity inside the patient, cable (or fibre) break is a serious problem. A constraint guided spine-kinematics without rotatory DoF at its distal end is proposed to reduce the danger of cable (or fibre) break due to a curved flection instead of a sharply bending joint. The properties of a constraint spine-kinematics with one DoF adapted to the special requests of an in-house developed MIRS-system is presented, verification data acquired in a specially developed test bed are shown. The results seem suitable for MIRS applications and for a progress towards a 2 DoF solution with the presented constraint principle.
| elib-URL des Eintrags: | https://elib.dlr.de/92400/ | ||||||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
| Titel: | Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 2013 | ||||||||||||||||||||||||
| Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| DOI: | 10.1109/ICRA.2013.6631359 | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 5433-5440 | ||||||||||||||||||||||||
| Verlag: | IEEE | ||||||||||||||||||||||||
| ISSN: | 1050-4729 | ||||||||||||||||||||||||
| ISBN: | 978-1-4673-5641-1 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | dexterous manipulators, force feedback, force sensors, friction, kinematics , Minimal invasive robotic surgery | ||||||||||||||||||||||||
| Veranstaltungstitel: | International Conference on Robotics and Automation ICRA2013 | ||||||||||||||||||||||||
| Veranstaltungsort: | Karlsruhe, Deutschland | ||||||||||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
| Veranstaltungsbeginn: | 6 Mai 2013 | ||||||||||||||||||||||||
| Veranstaltungsende: | 10 Mai 2013 | ||||||||||||||||||||||||
| Veranstalter : | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Robotische Assistenzsysteme (alt) | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme | ||||||||||||||||||||||||
| Hinterlegt von: | Pütz, Alexandra | ||||||||||||||||||||||||
| Hinterlegt am: | 09 Jan 2015 15:08 | ||||||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 19:58 |
Verfügbare Versionen dieses Eintrags
- Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments. (deposited 09 Jan 2015 15:08) [Gegenwärtig angezeigt]
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