title: Robotic hand-held surgical device: evaluation of end-effector's kinematics and development of proof-of-concept prototypes.
abstract: We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results.
authors.affiliation: Institut des Systemes Intelligents et de Robotique Université Pierre et Marie Curie-Paris VI, 4, place Jussieu, 75005, Paris, France.
authors.forename: Ali Hassan
authors.initials: AH
authors.lastname: Zahraee
authors.forename: Jérome
authors.initials: J
authors.lastname: Szewczyk
authors.forename: Jamie Kyujin
authors.initials: JK
authors.lastname: Paik
authors.forename: Guillaume
authors.initials: G
authors.lastname: Morel
mesh_terms: D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D008904:Miniaturization; D010865:Pilot Projects; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014159:Transducers