Miniature steerable end-effector for application in an integrated system for computer-assisted arthroscopy

P. Dario; C. Paggetti; N. Troisfontaine; E. Papa; T. Ciucci; M. C. Carrozza; M. Marcacci

Miniature steerable end-effector for application in an integrated system for computer-assisted arthroscopy

P. Dario, C. Paggetti, N. Troisfontaine, E. Papa, T. Ciucci, M. C. Carrozza, M. Marcacci

Istituti Ortopedici Rizzoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Arthroscopic techniques are very popular in orthopaedic surgery for intervention on articular joints, especially on knee. From an engineering viewpoint, current arthroscopic techniques can be improved in two ways: a) by augmenting visual information for the surgeon; b) by improving existing instrumentation. In our laboratory we are addressing both problems by developing an integrated system for computer-assisted arthroscopy. In this paper the procedures and instrumentation currently adopted for arthroscopy, and the limitations of both, are described first. Then the main characteristics of the integrated system we are developing are presented. The design requirements for new and better instruments for arthroscopy are discussed in detail and the fabrication and testing of a prototype of Shape Memory Alloy-based actuator developed for steering the distal part of an arthroscope are discussed. The prototype steerable end-effector can rotate of ±90° and exert a maximum force at the tip of about 1 N.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	IEEE
Pages	1573-1579
Number of pages	7
Volume	2
Publication status	Published - 1997
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997

Other

Other	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)
City	Albuquerque, NM, USA
Period	4/20/97 → 4/25/97

ASJC Scopus subject areas

Software
Control and Systems Engineering

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Miniature steerable end-effector for application in an integrated system for computer-assisted arthroscopy. / Dario, P.; Paggetti, C.; Troisfontaine, N.; Papa, E.; Ciucci, T.; Carrozza, M. C.; Marcacci, M.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1997. p. 1573-1579.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dario, P, Paggetti, C, Troisfontaine, N, Papa, E, Ciucci, T, Carrozza, MC & Marcacci, M 1997, Miniature steerable end-effector for application in an integrated system for computer-assisted arthroscopy. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 1573-1579, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4), Albuquerque, NM, USA, 4/20/97.

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abstract = "Arthroscopic techniques are very popular in orthopaedic surgery for intervention on articular joints, especially on knee. From an engineering viewpoint, current arthroscopic techniques can be improved in two ways: a) by augmenting visual information for the surgeon; b) by improving existing instrumentation. In our laboratory we are addressing both problems by developing an integrated system for computer-assisted arthroscopy. In this paper the procedures and instrumentation currently adopted for arthroscopy, and the limitations of both, are described first. Then the main characteristics of the integrated system we are developing are presented. The design requirements for new and better instruments for arthroscopy are discussed in detail and the fabrication and testing of a prototype of Shape Memory Alloy-based actuator developed for steering the distal part of an arthroscope are discussed. The prototype steerable end-effector can rotate of ±90° and exert a maximum force at the tip of about 1 N.",

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AU - Papa, E.

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AU - Carrozza, M. C.

AU - Marcacci, M.

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AB - Arthroscopic techniques are very popular in orthopaedic surgery for intervention on articular joints, especially on knee. From an engineering viewpoint, current arthroscopic techniques can be improved in two ways: a) by augmenting visual information for the surgeon; b) by improving existing instrumentation. In our laboratory we are addressing both problems by developing an integrated system for computer-assisted arthroscopy. In this paper the procedures and instrumentation currently adopted for arthroscopy, and the limitations of both, are described first. Then the main characteristics of the integrated system we are developing are presented. The design requirements for new and better instruments for arthroscopy are discussed in detail and the fabrication and testing of a prototype of Shape Memory Alloy-based actuator developed for steering the distal part of an arthroscope are discussed. The prototype steerable end-effector can rotate of ±90° and exert a maximum force at the tip of about 1 N.

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