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.
Titre
Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes
Publié dans
Medical Image Computing and Computer-Assisted Intervention - Miccai 2010, Pt Iii
Série
Lecture Notes in Computer Science, 6363
Pages
432-439
Présenté à
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
Date de création de la notice
2012-09-18