Toward the Development of a Hand-Held Surgical Robot for Laparoscopy

Ali Hassan Zahraee, Jamie Kyujin Paik, Jerome Szewczyk, Guillaume Morel
2010 IEEE/ASME transactions on mechatronics  
A minimally invasive surgery (MIS) which typically involves endoscopic camera and laparoscopic instruments may seem to be the ideal surgical procedure for its apparent benefits. However, in comparison to open surgeries, the spatial and mechanical tool limitations posed on surgeons are so high that often MIS is foregone for complex cases and even when it is possible, the procedure requires a high dexterity, calibre and experience from the surgeon. Particularly, suturing procedure through MIS is
more » ... nown to be extremely challenging. We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. The instrument produces two independent DOF which is sufficient for enabling MIS suturing procedure in vivo. The end effector's orientation is controlled by an intuitive and ergonomic controller and its position is controlled directly by the surgeon. Different control modes, handles and end effector kinematics are primarily evaluated using a virtual reality simulator before choosing the best combination. A proof-of-concept prototype of the device has been developed.
doi:10.1109/tmech.2010.2055577 fatcat:pxrvcnwlejbnrok3anyw5yz46q