Name
Title | ||
|---|---|---|
A novel piezoelectric driven laparoscopic instrument with multiple degree of freedom parallel kinematic structure |
Abstract | ||
|---|---|---|
The development of a novel actuator driven laparoscopic instrument with parallel kinematic instrument tip serves to overcome the workspace restrictions of classic laparoscopic instruments and provides the surgeon multiple degrees of freedom (DOF) inside the patients body. First of all the requirements concerning control and motion have been derived in cooperation with medical partners. According to this, the aim of the project is to provide an intuitively controllable instrument especially suitable for laparoscopic dissection. It contains a 4-DOF movement at its intracorporeal side and can be one-hand-controlled by the surgeon. With 4 intracorporeal DOF it is possible to accomplish precision movements in a small intracorporeal workspace under different orientations. A parallel kinematic mechanism for the moving instrument tip has been designed. This paper describes the development of the mechanism topology and a numeric approach for the kinematic calculation. To drive the mechanism during tissue manipulation forces of up to 15 N are required. Only piezoelectric drives provide a sufficient power density regarding forces and speed. Hence traveling wave ultrasonic motors have been chosen. The position and velocity control of a single motor is presented as well as the entire instrument control structure containing trajectory planning of the surgeons input and the kinematic calculation. An intuitive control is assured by a 3- DOF joystick that can be controlled by the surgeon's thumb. A first prototype of the entire instrument has been successfully tested in an animal experiment. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354507 | IROS |
Keywords | Field | DocType |
entire instrument,parallel kinematic mechanism,parallel kinematic instrument tip,multiple degree,freedom parallel kinematic structure,entire instrument control structure,intuitive control,instrument tip,laparoscopic instrument,kinematic calculation,novel piezoelectric,intuitively controllable instrument,classic laparoscopic instrument,kinematics,surgery,actuators,trajectory | Piezoelectric actuators,Degrees of freedom (statistics),Kinematics,Computer science,Workspace,Simulation,Control theory,Control engineering,Multiple degrees of freedom,Trajectory,Actuator,Piezoelectricity | Conference |
Citations | PageRank | References |
1 | 0.41 | 3 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| A. Röse | 1 | 1 | 0.41 |
| C. Wohlleber | 2 | 1 | 0.41 |
| S. Kassner | 3 | 1 | 0.41 |
| Helmut F. Schlaak | 4 | 3 | 2.39 |
| R. Werthschützky | 5 | 1 | 0.41 |