A flexible instrument for robotic assisted minimally invasive esophagectomy
Résumé
The paper presents a medical flexible instrument for esophagus stapling that can be integrated in robotic assisted esophagectomy. Starting with several considera-tions required for esophagectomy surgery, the forward kinematic model of the in-strument is presented, followed by a numerical and a graphical simulation to vali-date the mathematical model of the instrument. A 3D printed mockup is devel-oped in order to test the design of the instrument while simulating the stapling procedure.
| Origine | Fichiers produits par l'(les) auteur(s) |
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