C. Schlenk, Andrea Schwier, M. Heiss, T. Bahls, A. Albu-Schäffer
{"title":"微创水射流手术机器人器械的设计","authors":"C. Schlenk, Andrea Schwier, M. Heiss, T. Bahls, A. Albu-Schäffer","doi":"10.1109/ISMR.2019.8710186","DOIUrl":null,"url":null,"abstract":"Using a pressurized waterjet for cutting or abrasing tissue is a well established method in surgery. This paper presents a robotic tool for minimally invasive waterjet surgery with two degrees of freedom, integrated suction and an optional splash protection. The function of the tool and the effect of the splash protection on the suction of the applicated water was successfully evaluated in tests with ballistic gelatine. Based on this evaluated design, a concept for further increasing the oscillation frequency of the instrument tip is introduced and the results of preliminary tests of a simplified mockup are shown.","PeriodicalId":404745,"journal":{"name":"2019 International Symposium on Medical Robotics (ISMR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Design of a robotic instrument for minimally invasive waterjet surgery\",\"authors\":\"C. Schlenk, Andrea Schwier, M. Heiss, T. Bahls, A. Albu-Schäffer\",\"doi\":\"10.1109/ISMR.2019.8710186\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Using a pressurized waterjet for cutting or abrasing tissue is a well established method in surgery. This paper presents a robotic tool for minimally invasive waterjet surgery with two degrees of freedom, integrated suction and an optional splash protection. The function of the tool and the effect of the splash protection on the suction of the applicated water was successfully evaluated in tests with ballistic gelatine. Based on this evaluated design, a concept for further increasing the oscillation frequency of the instrument tip is introduced and the results of preliminary tests of a simplified mockup are shown.\",\"PeriodicalId\":404745,\"journal\":{\"name\":\"2019 International Symposium on Medical Robotics (ISMR)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-04-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Symposium on Medical Robotics (ISMR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISMR.2019.8710186\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Symposium on Medical Robotics (ISMR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISMR.2019.8710186","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of a robotic instrument for minimally invasive waterjet surgery
Using a pressurized waterjet for cutting or abrasing tissue is a well established method in surgery. This paper presents a robotic tool for minimally invasive waterjet surgery with two degrees of freedom, integrated suction and an optional splash protection. The function of the tool and the effect of the splash protection on the suction of the applicated water was successfully evaluated in tests with ballistic gelatine. Based on this evaluated design, a concept for further increasing the oscillation frequency of the instrument tip is introduced and the results of preliminary tests of a simplified mockup are shown.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
