Hand‐held robotic instrument for dextrous laparoscopic interventions

Piccigallo, M.; Focacci, Francesco; Tonet, O.; Megali, Giuseppe; Quaglia, Claudio; Dario, P.

doi:10.1002/rcs.214

Cited by 19 publications

(13 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…[7] mentions some of them in its state of the art section. In [8] an instrument is presented in which the knob that controls the roll angle in conventional tools is replaced by a hinged ring that can be used to steer 2 DOF of tip deflection.…”

Section: A Mechanical Hand-held Instrumentsmentioning

confidence: 98%

Mechatronic design of a hand-held instrument with active trocar for laparoscopy

Hassan-Zahraee

Herman

Szewczyk

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible and some tasks like suturing are difficult to perform with them. A novel hand-held, lightweight and ergonomic mechatronic instrument is presented in this paper. The instrument has a 3-DOF roll-pitch-roll end-effector controlled using an easy to use handle that provides the surgeon with a 6-DOF movement, including a distal circular movement which resembles the circular movement of stitching. The design of the instrument is based on a global study involving control, dexterity and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive and ergonomic interface. A proof of concept prototype was built and tested in vitro and in vivo.

show abstract

Section: A Mechanical Hand-held Instrumentsmentioning

confidence: 98%

Mechatronic design of a hand-held instrument with active trocar for laparoscopy

Hassan-Zahraee

Herman

Szewczyk

2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…The joint controls the tip deflection, while the switch controls the tip rotation. M. Piccigallo et al have developed a roll-pitch-roll end-effector and a yaw-pitch handle with a switch [4]. D. Gossot et al have developed an endoscopic instrument with multiple DOFs, which can be manipulated by a single wheel mounted in its handle [5].…”

Section: Introductionmentioning

confidence: 99%

Design of intuitive user interface for Multi-DOF forceps for laparoscopic surgery

Fujii

Fukushima

Sugita

et al. 2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

In this paper, we present the development of an intuitive user interface for hand-held multi-DOF forceps for laparoscopic surgery. Interface design is crucial to the development of hand-held medical instruments. Surgeons may not use medical devices owing to their poor usability, regardless of their performance. In addition, most surgeons do not have the time to learn the use of robotic instruments. We have listed all possible input mechanisms based on the motions of the fingers, and we have designed sample interfaces consisting of effective input mechanisms. The usability of the designed interfaces was evaluated by surgeons via experiments performed using the sample interfaces and a simulator. In summary, we propose a method for designing the most intuitive user interface for hand-held multi-DOF forceps.

show abstract

“…A few hand-held mechanical manipulators for laparoscopic surgery have appeared on the market in recent years [4], [5], [6], [7], [8] and there is ongoing work for developing mechatronic devices [9], [10]. These devices use different interfaces, control modes and effector kinematics.…”

Section: Simulation For Robot Designmentioning

confidence: 99%

Simulation for Optimal Design of Hand-Held Surgical Robots

Zahraee

Szewczyk

Morel

2009

2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

View full text Add to dashboard Cite

Abstract-Hand-held surgical robots are manipulators with dexterous effectors to be used by surgeons in minimally invasive surgery and especially in laparoscopy. Mechanical manipulators for laparoscopy have appeared on the markets in recent years with various interfaces and dexterities. 2 examples are RealHand T M and Laparo-Angle T M . The question of which interface and control mode is the best has not been answered yet. Also, the effector kinematics has not been studied much. We have made a simulator to study the robot's interface, control mode and kinematics to design a hand-held surgical robot for laparoscopic surgery. We asked test subjects to use the simulator and try to make sutures in a virtual environment. Users opinion is that a joystick as interface is easier to use, compared to a jointed interface translating hand's orientation to that of the effector. It appears that a 6 DOF effector coupled to the shaft is necessary and dexterous enough to make sutures in different angles.

show abstract

Hand‐held robotic instrument for dextrous laparoscopic interventions

Abstract: 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.

Cited by 19 publications

References 27 publications

Mechatronic design of a hand-held instrument with active trocar for laparoscopy

Mechatronic design of a hand-held instrument with active trocar for laparoscopy

Design of intuitive user interface for Multi-DOF forceps for laparoscopic surgery

Simulation for Optimal Design of Hand-Held Surgical Robots

Contact Info

Product

Resources

About