Design requirements for a new robot for minimally invasive surgery

Tobias Ortmaier (Institute of Robotics and Mechatronics, German Aerospace Centre, Wessling, Germany and also at Laboratoire de Robotique de Paris CNRS, Université de Paris, Fontenay aux Roses, France)
Holger Weiss (Institute of Robotics and Mechatronics, German Aerospace Centre, Wessling, Germany)
Volkmar Falk (Department of Cardiac Surgery, Heart Center Leipzig, Leipzig, Germany)

Industrial Robot

ISSN: 0143-991x

Publication date: 1 December 2004

Abstract

Minimally invasive endoscopic surgery and minimally invasive surgery challenge surgical skills due to the operator's separation from the surgical field and the requirements for long instruments with limited dexterity. To overcome the drawbacks of conventional endoscopic instruments computer‐enhanced telemanipulation systems and robotic systems have been developed in the past. This paper summarizes the requirements for minimally invasive robotic assisted surgery and describes a new robot that has been developed at the German Aerospace Center (DLR). The discussion includes a description of the robotic arm, the appropriate control laws, as well as the requirements for actuated and sensorized instruments.

Keywords

Citation

Ortmaier, T., Weiss, H. and Falk, V. (2004), "Design requirements for a new robot for minimally invasive surgery", Industrial Robot, Vol. 31 No. 6, pp. 493-498. https://doi.org/10.1108/01439910410566353

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Publisher

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Emerald Group Publishing Limited

Copyright © 2004, Emerald Group Publishing Limited

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