Robotic hand-held surgical device: evaluation of end-effector's kinematics and development of proof-of-concept prototypes

Ali Hassan Zahraee; Jérome Szewczyk; Jamie Kyujin Paik; Guillaume Morel

doi:10.1007/978-3-642-15711-0_54

Robotic hand-held surgical device: evaluation of end-effector's kinematics and development of proof-of-concept prototypes

Med Image Comput Comput Assist Interv. 2010;13(Pt 3):432-9. doi: 10.1007/978-3-642-15711-0_54.

Authors

Ali Hassan Zahraee¹, Jérome Szewczyk, Jamie Kyujin Paik, Guillaume Morel

Affiliation

¹ Institut des Systemes Intelligents et de Robotique Université Pierre et Marie Curie-Paris VI, 4, place Jussieu, 75005, Paris, France.

PMID: 20879429
DOI: 10.1007/978-3-642-15711-0_54

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.

Publication types

Research Support, Non-U.S. Gov't

MeSH terms

Computer-Aided Design*
Equipment Design
Equipment Failure Analysis
Miniaturization
Pilot Projects
Robotics / instrumentation*
Surgery, Computer-Assisted / instrumentation*
Transducers*