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A Mechatronic Interface for using Oblique-Viewing Endoscopes with Light Weight Robots for Laparoscopic Surgery

Petani, Lisa; Scheikl, Paul Maria; Mathis-Ullrich, Franziska

Abstract (englisch):
No mechatronic interface exists between a robotic arm and an oblique-viewing endoscope with rotational actuation and without kinematic singularity. Therefore, we developed an interface between a Franka Emika Panda manipulator and a rigid 30 degree oblique-viewing endoscope by Storz, which can be used during laparoscopic surgery. The design is easily adaptable to other camera heads and robotic arms.
As a next step, we will compare the design to a 30 degree endoscope without utilization of the rotational degree of freedom and to a 0 degree endoscope.

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Volltext §
DOI: 10.5445/IR/1000097121
Veröffentlicht am 16.09.2019
Coverbild
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Sonstiges
Jahr 2019
Sprache Englisch
Identifikator KITopen-ID: 1000097121
Bemerkung zur Veröffentlichung IEEE International Conference on Robotics and Automation - Workshop: Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems (ICRA 2019), Montreal, Kanada, 20 - 24 Mai 2019
Schlagworte laparoscopic surgery, 30 degree oblique-viewing endoscope, Franka Emika Panda robot, mechatronic interface, robot-assisted surgery
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