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Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments

Wimmer, Alexandra and Deutschmann, Bastian and Kuebler, Bernhard and Rink, Christian and Hirzinger, Gerd (2013) Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5433-5440. IEEE. International Conference on Robotics and Automation ICRA2013, 06. - 10. Mai 2013, Karlsruhe, Deutschland. doi: 10.1109/ICRA.2013.6631359. ISBN 978-1-4673-5641-1. ISSN 1050-4729.

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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6631359


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.

Item URL in elib:https://elib.dlr.de/92400/
Document Type:Conference or Workshop Item (Speech)
Title:Spine-Kinematics with Constraint Guidance for Robot-Supported MIS-Instruments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wimmer, Alexandraalexandra.puetz (at) dlr.deUNSPECIFIED
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/ICRA.2013.6631359
Page Range:pp. 5433-5440
Keywords:dexterous manipulators, force feedback, force sensors, friction, kinematics , Minimal invasive robotic surgery
Event Title:International Conference on Robotics and Automation ICRA2013
Event Location:Karlsruhe, Deutschland
Event Type:international Conference
Event Dates:06. - 10. Mai 2013
Organizer:IEEE International Conference on Robotics and Automation (ICRA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Robotische Assistenzsysteme (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Pütz, Alexandra
Deposited On:09 Jan 2015 15:08
Last Modified:09 Feb 2017 19:20

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