title: Hand-held robotic instrument for dextrous laparoscopic interventions.
abstract: BACKGROUND
  Surgical instruments used in many types of minimally invasive procedures are rigid or only limitedly flexible. Some common tasks like suturing, require precise and dextrous movements that are difficult to perform by means of instruments with limited degrees of freedom (DOF).
  
  
  METHODS
  A hand-held lightweight and ergonomic robotic instrument with a 3-DOF roll-pitch-roll end-effector has been developed, which can be controlled by the surgeon with one hand like a conventional instrument.
  
  
  RESULTS
  The instrument is composed by a handle part and an end-effector. The handle part has been developed taking into account a control mode study for laparoscopic instruments and it allows direct mapping between the orientation of handle and that of the end-effector.
  
  
  CONCLUSIONS
  The instrument presented is the result of a global study involving mechanical, electronic and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive interface.
authors.affiliation: CRIM Laboratory, Scuola Supereriore Sant'Anna, Pisa, Italy. m.piccigallo@crim.sssup.it
authors.forename: Marco
authors.initials: M
authors.lastname: Piccigallo
authors.forename: Francesco
authors.initials: F
authors.lastname: Focacci
authors.forename: Oliver
authors.initials: O
authors.lastname: Tonet
authors.forename: Giuseppe
authors.initials: G
authors.lastname: Megali
authors.forename: Claudio
authors.initials: C
authors.lastname: Quaglia
authors.forename: Paolo
authors.initials: P
authors.lastname: Dario
mesh_terms: D004867:Equipment Design; D006801:Humans; D010535:Laparoscopy / Q000379:methods*; D008328:Man-Machine Systems; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013525:Surgical Instruments; D020535:Video-Assisted Surgery / Q000295:instrumentation / Q000379:methods; D014941:Work Simplification