TY - GEN
T1 - A mechanism for surgical tool manipulation
AU - Yousef, Basem Fayez
AU - Aiash, Farah M.T.
PY - 2013/10/31
Y1 - 2013/10/31
N2 - 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.
AB - 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.
KW - manipulation
KW - minimally invassive
KW - remote center of motion
KW - surgical tool
UR - http://www.scopus.com/inward/record.url?scp=84886480754&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84886480754&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2013.6606292
DO - 10.1109/ASCC.2013.6606292
M3 - Conference contribution
AN - SCOPUS:84886480754
SN - 9781467357692
T3 - 2013 9th Asian Control Conference, ASCC 2013
BT - 2013 9th Asian Control Conference, ASCC 2013
T2 - 2013 9th Asian Control Conference, ASCC 2013
Y2 - 23 June 2013 through 26 June 2013
ER -