Applications of micromechatronics in minimally invasive surgery
Tendick, F.
Sastry, S.S.
Fearing, R.S.
Cohn, M.
Dept. of Surgery, California Univ., San Francisco, CA;
This paper appears in: Mechatronics, IEEE/ASME Transactions on
Publication Date: Mar 1998
Volume: 3,
Issue: 1
On page(s): 34-42
ISSN: 1941-014X
References Cited: 66
CODEN: IATEFW
INSPEC Accession Number: 5872530
Digital Object Identifier: 10.1109/3516.662866
Current Version Published: 2002-08-06
Abstract
Many surgical procedures are now performed using the techniques of
minimally invasive surgery (MIS), in which unnecessary trauma is limited
by reducing the size of incisions to less than about 1 cm or by using
catheters or endoscopes threaded through vessels, the gastrointestinal
tract, or other tubular structures. Micromechatronic technologies have
great potential to allow access to regions now inaccessible, or to
enhance the surgeon's abilities in applications where current minimally
invasive techniques do not permit the full range of human dexterity and
perception. Key needs and applications in MIS are identified, and
relevant technologies, methods, and systems issues in mechatronics are
discussed. The authors' millirobotic system for MIS of the abdomen is
used as an example
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