Paper Title:
Kinematic Analysis of a Novel Manual Medical Instrument for Minimally Invasive Surgery
  Abstract

This paper presents a novel compact manual instrument for minimally invasive surgery (MIS). The instrument possesses several good features, such as large workspace, high flexibility, low friction and comfortable operability. The structure of the instrument is a basic configuration of some manual instruments. Besides basic operations, it can be applied to accomplish some more difficult processes, e.g. suturing and knotting. Based on screw theory and product-of-exponentials (POE) formula, the degree of freedom (DoF) and kinematics of the instrument are analyzed in the paper. The calculation results are verified by the simulation.

  Info
Periodical
Advanced Materials Research (Volumes 308-310)
Chapter
New Mechanisms and Robotics
Edited by
Jian Gao
Pages
1969-1974
DOI
10.4028/www.scientific.net/AMR.308-310.1969
Citation
X. F. Wang, J. M. Li, G. K. Zhang, "Kinematic Analysis of a Novel Manual Medical Instrument for Minimally Invasive Surgery", Advanced Materials Research, Vols. 308-310, pp. 1969-1974, 2011
Online since
August 2011
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Price
$32.00
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