Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes
2010
Abstract
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.
Details
Title
Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes
Author(s)
Zahraee, Ali Hassan ; Szewczyk, Jerome ; Paik, Jamie Kyujin ; Morel, Guillaume
Published in
Medical Image Computing and Computer-Assisted Intervention - Miccai 2010, Pt Iii
Series
Lecture Notes in Computer Science, 6363
Pages
432-439
Conference
13th International Conference on Medical Image Computing and Computer-Assisted Intervention, Sep 20-24, 2010, China Natl Convent Ctr, Beijing, PEOPLES R CHINA
Date
2010
Other identifier(s)
View record in Web of Science
Laboratories
RRL
Record Appears in
Scientific production and competences > STI - School of Engineering > IGM - Institute of Mechanical Engineering > RRL - Reconfigurable Robotics Lab
Peer-reviewed publications
Work outside EPFL
Conference Papers
Published
Peer-reviewed publications
Work outside EPFL
Conference Papers
Published
Record creation date
2012-09-18