32 research outputs found
MICA - A new generation of versatile instruments in robotic surgery
Robotic surgery systems are highly complex and
expensive pieces of equipment. Demands for lower cost of
care can be met if these systems are employable in a flexible
manner for a large variety of procedures. To protect the initial
investment the capabilities of a robotic system need to be
expandable as new tasks arise.
To oblige the needs of future robotic support in hospitals, the
German Aerospace Center (DLR) has developed the versatile
robotic system MiroSurge for medical applications.
This paper presents a 3 DoF instrument for Minimally
Invasive Robotic Surgery which is mounted to the hollow wrist
of the DLR MIRO robot arm. The MICA instrument consists
of a versatile drive train and a detachable task specific tool
with its tool interface, shaft, 2 DoF wrist, 7 DoF force/torque
sensor and the actuated functional end. With the current cabledriven tool, gripping and manipulation forces of above 10 N
are feasible and dynamics is high enough for surgery at the
beating heart