Motion order system for the end effector of an instrument used in endoscopic surgery

Hand‐held robotic instrument for dextrous laparoscopic interventions

“…The first prototype, described in (19), was built using an EndoWrist instrument (the end-effector of the da Vinci System) connected to four motors by a tendon-sheath transmission. The prototype was controlled by means of a joystick and switches positioned on the handle in a way similar to the instrument described in (16). The tendon-sheath transmission allows the motors to remain in a fixed location while the tool is moved independently.…”

“…In the second position control mode, the fulcrum constraint at the trocar is introduced, so that moving the handle in one direction causes the tip to move in the opposite direction, as happens with conventional and hand-held mechatronic laparoscopic instruments. Orientation of the tip can be controlled in absolute mode by an exact correspondence with the orientation of the handle, as in telerobotics and in (17), or it can be controlled in relative mode, moving the joint angles incrementally with fixed velocity using a joystick, as in our first prototype (19) and in (16). By combining the two position control modes with the two orientation control modes we obtained four different control modes ( Figure 6).…”

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

“…It is possible that surgeons do not use developed medical devices due to their poor usability regardless of the device performance. In addition, most Manuscript [3]. One of the several interface units has several switches to control the end-effector.…”