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Communication Dans Un Congrès Année : 2010

Motion control of a multi-dof grasper manipulator for laparoscopic surgery

Résumé

Minimally invasive surgery (MIS) offers alternative solutions to standard open surgical techniques. However, conventional MIS is limited by difficulties in performing the technique using standard instruments. Thus, numerous robotic surgical systems have been recently developed and the number of minimal access surgical procedures increases rapidly. However, these devices are expensive and their implementation requires changes in surgery habits. This paper introduces an original and dextrous minimally invasive articulated instrument dedicated to laparoscopic surgery, offering a reduced learning curve, and the simplicity of use of conventional tool. First we explain the need of practitioners and the specifications written in close collaboration with expert surgeons. Then, the mechatronical approach used for the design is presented, and the implementation of the control laws is described. Last, some results obtained on a test bench and on a pig in semi clinical situation are given.
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Dates et versions

hal-00604333 , version 1 (28-06-2011)

Identifiants

  • HAL Id : hal-00604333 , version 1

Citer

Rémi Rosset-Lanchet, Christine Barthod, Jérémy Ollagnier, Max Giordano, Olivier Skowron, et al.. Motion control of a multi-dof grasper manipulator for laparoscopic surgery. MECATRONICS2010, Nov 2010, Yokohama, Japan. ⟨hal-00604333⟩
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