Surgical Robotics | Development of Micro Tools for Surgical Applications

Francesco Cepolina

ISBN 10: 3848430274 / ISBN 13: 9783848430277

Published by LAP LAMBERT Academic Publishing, 2016

About this Item

Surgical Robotics | Development of Micro Tools for Surgical Applications | Francesco Cepolina | Taschenbuch | 332 S. | Englisch | 2016 | LAP LAMBERT Academic Publishing | EAN 9783848430277 | Verantwortliche Person für die EU: preigu GmbH & Co. KG, Lengericher Landstr. 19, 49078 Osnabrück, mail[at]preigu[dot]de | Anbieter: preigu.

Seller Inventory # 106584803

Bibliographic Details

• Title: Surgical Robotics | Development of Micro Tools for Surgical Applications
• Publisher: LAP LAMBERT Academic Publishing
• Publication Date: 2016
• Language: English
• ISBN 10: 3848430274
• ISBN 13: 9783848430277
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 220W x 150H x 21D millimeters 220 millimeters width by 150 millimeters height by 21 millimeters depth
• Weight: 512 grams
• Seller catalogs:
  • Bücher

About this title

Synopsis

The subject of the study is development of an articulated arm for minimally invasive heart surgery. The fixture develops as a snake-like forearm, carrying a wrist and the pertinent effectors; scalpels, scissors, sewing rigs, cameras, etc. The arm is formed by a sequence of modules having the same mechanical interface. About 25 modules have been conceived and their feasibility has been verified. A prototype of the instrument has been machined and tested. The small arm is actuated by 5 micro electric motors: the angular position of each DoF is measured by a magnetic sensor, the clamp is powered by SMA wires. An innovative control algorithm, able to cope with redundancy, has been implemented. The instrument, like a leprechaun, lives inside a box; the arm can lean out and move along the programmed path. During the surgery operation, the arm enters in the body of the patient and executes the operation. The robot co-operation will drastically modify surgery practice, giving freedom from anthropocentric bounds; the project considers such opportunities, with comments on typical control strategies and hints on actual performance, inferred by testing on virtual reality and digital mock-ups.

About the Author

Dr. Francesco Cepolina is born in Genoa in 1974. He has obtained his PhD degree in Surgical Robotics in 2005. He has worked in the R&D department of different companies in Europe and USA. He is author of several articles published in reputed journals and is reviewer of scientific international journals.