A mechanism for surgical tool manipulation

Basem Fayez Yousef, Farah M.T. Aiash

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

5 Citations (Scopus)


A compact mechanism is designed to enable manipulation about a pivot point, different kinds of surgical tools which are commonly used in minimally invasive surgery such as therapy laser delivery tools, biopsy and bracytherapy needles. The robot's special configuration will enable it to reorient a surgical tool about a pivot point conveniently; achieve and control small-scale movement for precision manipulation in two independent degrees of freedom, and allow for miniaturization so it can overcome problems associated with the limited surgical workspaces. The manipulator can be used in manual, autonomous or remote-control modes. Performance analysis showed that the robot can operate with an average angular accuracy of 1.4 and 1.1 degrees for the joints. The features of the proposed mechanism make it well suited for use in a broad range of medical interventions.

Original languageEnglish
Title of host publication2013 9th Asian Control Conference, ASCC 2013
Publication statusPublished - 2013
Event2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey
Duration: Jun 23 2013Jun 26 2013

Publication series

Name2013 9th Asian Control Conference, ASCC 2013


Other2013 9th Asian Control Conference, ASCC 2013


  • manipulation
  • minimally invassive
  • remote center of motion
  • surgical tool

ASJC Scopus subject areas

  • Control and Systems Engineering


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