title: Kinematic problems of manipulators for minimal invasive surgery.
abstract: 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.
authors.affiliation: Nuclear Research Centre Karlsruhe, Division of Technical Engineering, Germany.
authors.forename: J
authors.initials: J
authors.lastname: Mueglitz
authors.forename: G
authors.initials: G
authors.lastname: Kunad
authors.forename: P
authors.initials: P
authors.lastname: Dautzenberg
authors.forename: B
authors.initials: B
authors.lastname: Neisius
authors.forename: R
authors.initials: R
authors.lastname: Trapp
mesh_terms: 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