Lightweight hand-held robot for laparoscopic surgery

Francesco Focacci, Marco Piccigallo, Oliver Tonet, Giuseppe Megali, Andrea Pietrabissa, Paolo Dario

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Some phases of laparoscopic interventions, such as suturing, require precise and dexterous movements that are difficult to perform by means of rigid instruments. Multi-DOF hand-held instruments and teleoperated systems have been developed to increase movement dexterity. In this paper, we present the design of a novel hand-held robotic instrument that can be operated by the surgeon with one hand only, while standing at the operating table and acting on a traditional laparoscopic instrument with the other hand. Its main advantages are the low weight, achieved by dislocating the motors and using a flexible transmission, and the possibility to switch end-effector, changing the instrument type according to the phase of the intervention. The instrument can be used easily and rapidly, since it does not require long or complex set-up procedures. We describe the instrument design, the development of the first prototype and compare it to rigid instruments in the ability to approach sutures at various angles.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages599-604
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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