Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery

被引：0

作者：

Can, S. ^{[1
]}

Jensen, B. ^{[1
]}

Dean-Leon, E. ^{[1
]}

Staub, C. ^{[1
]}

Knoll, A. ^{[1
]}

Fiolka, A.

Schneider, A.

Meining, A.

Feussner, H.

机构：

[1] Tech Univ Munich, D-80290 Munich, Germany

来源：

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work presents the kinematics and control of a 6DOF manipulator for single-port surgery. Two such highly versatile manipulators and a semi-rigid telescope are combined in a unit that can be inserted through a 30mm incision into the abdominal cavity. A velocity-based task-space control was implemented in a simulation environment to evaluate the kinematics of the manipulator and position control of the instruments. The manipulators are operated with two space-mouse that are integrated as a new input device. An evaluation of the system in a pick-and-place scenario is also presented. Finally, a workspace analysis was accomplished to assess the capabilities and drawbacks of the realized system.

引用

页数：6

共 50 条

[21] Single-port Appendectomy Minimally invasive Diagnostics and Therapy for chronic Abdominal Pain
Heil, Christian
Spaun, Hella
Schimpl, Gunther
PADIATRIE UND PADOLOGIE, 2008, 43 (04): : 20 - 21
[22] Single-port plus one port subcostal robotic-assisted minimally invasive McKewon esophagectomy using the daVinci Single-Port surgical system
Lee, Jun Hee
Hong, Jeong In
Jang, You Jin
Kim, Hyun Koo
INTERDISCIPLINARY CARDIOVASCULAR AND THORACIC SURGERY, 2023, 36 (06):
[23] Minimally Invasive 3-Field Esophagectomy With Cervical Single-port Access
Guven, Hakan
Karahan, Servet R.
Koc, Bora
Erdogu, Volkan
Ozsoy, Ayhan
Adas, Gokhan T.
Bayram, Onur
SURGICAL LAPAROSCOPY ENDOSCOPY & PERCUTANEOUS TECHNIQUES, 2014, 24 (04): : E151 - E154
[24] Kinematics and Dexterity Analysis of a Compound Continuum Manipulator for Minimally Invasive Surgical
Zhang, Gang
Du, Fuxin
Su, Jing
Zhang, Tao
Lei, Yanqiang
Song, Rui
Li, Yibin
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022), 2022, : 337 - 343
[25] Single-port robotic manipulator system for brain tumor removal surgery: SiromanS
Seung, Sungmin
Liu, Pengxin
Park, Sukho
Park, Jong-Oh
Ko, Seong Young
MECHATRONICS, 2015, 26 : 16 - 28
[26] Single-port robotic transanal minimally invasive surgery (SPR-TAMIS): another giant leap forward?
Ferrari, Davide
Peponis, Thomas
Violante, Tommaso
Cheng, Jyi Ng
Perry, William R.
Larson, David W.
Behm, Kevin T.
COLORECTAL DISEASE, 2025, 27 (01)
[27] Laparoscopic, minilaparoscopic, single-port and percutaneous hysterectomy: Comparison of perioperative outcomes of minimally invasive approaches in gynecologic surgery
Rossitto, C.
Cianci, S.
Alletti, S. Gueli
Perrone, E.
Pizzacalla, S.
Scambia, G.
EUROPEAN JOURNAL OF OBSTETRICS & GYNECOLOGY AND REPRODUCTIVE BIOLOGY, 2017, 216 : 125 - 129
[28] Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery
Sekiguchi, Yuta
Kobayashi, Yo
Tomono, Yu
Watanabe, Hiroki
Toyoda, Kazutaka
Konishi, Kozo
Tomikawa, Morimasa
Ieiri, Satoshi
Tanoue, Kazuo
Hashizume, Makoto
Fujie, Masakatsu G.
JOURNAL OF ROBOTICS AND MECHATRONICS, 2011, 23 (06) : 1115 - 1124
[29] Muscle scraping manipulator for minimally invasive hip joint surgery (system design and evaluation of the workspace)
Department of Mechanical Engineering, Waseda University, 59-307 3-4-1 Okubo, Shinjyuku-ku, Tokyo, 169-8555, Japan
Nihon Kikai Gakkai Ronbunshu C, 2008, 2 (372-379): : 372 - 379
[30] Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery
From, Pal Johan
Cho, Jang Ho
Robertsson, Anders
Nakano, Tomohiro
Ghazaei, Mahdi
Johansson, Rolf
2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), 2014, : 345 - 351

← 1 2 3 4 5 →