A Mechatronic Interface for using Oblique-Viewing Endoscopes with Light Weight Robots for Laparoscopic Surgery
Petani, Lisa
; Scheikl, Paul Maria; Mathis-Ullrich, Franziska
; Scheikl, Paul Maria; Mathis-Ullrich, FranziskaAbstract (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.
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.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) |
| Publikationstyp | Sonstiges |
| Publikationsmonat/-jahr | 05.2019 |
| 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 |
| Schlagwörter | laparoscopic surgery, 30 degree oblique-viewing endoscope, Franka Emika Panda robot, mechatronic interface, robot-assisted surgery |
| Relationen in KITopen |