Kinematic Analysis of a Novel Manual Medical Instrument for Minimally Invasive Surgery
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.
X. F. Wang et al., "Kinematic Analysis of a Novel Manual Medical Instrument for Minimally Invasive Surgery", Advanced Materials Research, Vols. 308-310, pp. 1969-1974, 2011