Hand-held robotic instrument for dextrous laparoscopic interventions
Hand-held robotic instrument for dextrous laparoscopic interventions
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DOI：
10.1002/rcs.214
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发表时间：
2008-12-01
影响因子：
2.5
通讯作者：
Dario, Paolo
中科院分区：
文献类型：
--
作者：
Piccigallol, Marco;Focacci, Francesco;Dario, Paolo
背景技术在许多类型的微创手术中使用的手术器械是刚性的或仅具有有限的柔性。一些常见的任务，如机器人，需要精确的和复杂的运动，这是难以通过具有有限自由度（DOF）的仪器来执行的。方法已经开发了具有3-DOF滚-俯仰-滚末端执行器的手持式轻量且符合人体工程学的机器人仪器，结果该器械由手柄部分和末端部分组成，效应器手柄部分已开发考虑到腹腔镜器械的控制模式研究，它允许直接映射手柄的方向和末端effector.Conclusion的仪器是一个全球性的研究，涉及机械，电子和人体工程学方面的结果，其目的是开发一种仪器，提高灵活性的外科医生，同时具有直观的界面。版权所有（C）2008约翰威利父子有限公司
Background Surgical instruments used in many types of minimally invasive procedures are rigid or only limitedly flexible. Some common tasks like suturing, require precise and dextrous movements that are difficult to perform by means of instruments with limited degrees of freedom (DOF).Methods A hand-held lightweight and ergonomic robotic instrument with a 3-DOF roll-pitch-roll end-effector has been developed, which can be controlled by the surgeon with one hand like a conventional instrument.Results The instrument is composed by a handle part and an end-effector. The handle part has been developed taking into account a control mode study for laparoscopic instruments and it allows direct mapping between the orientation of handle and that of the end-effector.Conclusion The instrument presented is the result of a global study involving mechanical, electronic and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive interface. Copyright (C) 2008 John Wiley & Sons, Ltd.