Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes
نویسندگان
چکیده
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.
منابع مشابه
Robotic Hand-Held Surgical Device: Evaluation of End-Effector’s Kinematics and Developpement of Proof-of-Concept Prototypes
We are working towards the development of a robotic handheld 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 proto...
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عنوان ژورنال:
- Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
دوره 13 Pt 3 شماره
صفحات -
تاریخ انتشار 2010