Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability

Abstract— Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can only be reached with long instruments. To overcome these drawbacks, minimally invasive robotic surgery (MIRS) plays an important role. This paper describes the development of actuated and sensorized instruments for minimally invasive robotic surgery which help to increase the surgeon’s immersion and dexterity.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Ulrich Seibold, Bernhard Kübler, Gerd Hirzinger
• Keywords: ICRA 2005, Invasive Robotic Surgery, Minimally Invasive, Minimally Invasive Surgery, Robotics