Kinematic problems of manipulators for minimal invasive surgery.
The article discusses handling problems in endoscopic surgery and concepts for the augmentation of instrument dexterity. The authors present a kinematic concept for improved surgical tool positioning and orientation. Using a trunk mechanism it is possible to assure augmented dexterity and stiffness for endoscopic handling. The paper addresses the use of steerable endoscopic instruments in a manipulator system for minimal invasive surgery.
Mueglitz
J
J
Nuclear Research Centre Karlsruhe, Division of Technical Engineering, Germany.
Kunad
G
G
Dautzenberg
P
P
Neisius
B
B
Trapp
R
R
D001696:Biomechanical Phenomena; D004582:Electronics, Medical / Q000295:instrumentation; D019723:Endoscopes; D004867:Equipment Design; D013502:General Surgery; D006801:Humans; D008328:Man-Machine Systems; D013677:Medical Laboratory Science / Q000295:instrumentation; D009068:Movement; D012371:Robotics / Q000295:instrumentation*; D012399:Rotation; D013499:Surface Properties