Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

A new robot for force control in minimally invasive surgery

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Zemiti, N. ; Lab. de Robotique de Paris, Paris Univ., France ; Ortmaier, T. ; Morel, G.

Minimally invasive surgery (MIS) challenges the surgeon's skills due to his separation from the operation area, which can be reached with long instruments only. Therefore, the surgeon loses access to the manipulation forces inside the patient. This reduces his dexterity when performing the operation. A new compact and lightweight robot for MIS is presented which allows for the measurement of manipulation forces. The main advantage of this concept is that no miniaturized force sensor has to be integrated into surgical instruments and inserted into the patient. Rather, outside the patient a standard sensor is attached to a modified trocar, which allows for the undisturbed measurement of manipulation forces. This approach reduces costs and sterilizability demands. Results of first force control experiments are presented to show the feasibility of the concepts.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004