具有六轴力传感能力的微创手术器械原型

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570167

U. Seibold, Bernhard Kübler, G. Hirzinger

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引用次数: 226

摘要

微创手术(MIS)对外科医生的技术提出了挑战，因为它与手术区域的分离只能用长器械到达。为了克服这些缺点，微创机器人手术(MIRS)发挥了重要作用。本文介绍了用于微创机器人手术的驱动和传感仪器的发展，这些仪器有助于提高外科医生的沉浸性和灵活性。

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Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon’s immersion and dexterity.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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