Improved surgical instruments without coupled motion used in minimally invasive surgery.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Jul 30, 2018

Abstract

BACKGROUND: Unlike a manual surgical instrument, a surgical instrument used in robot-assisted minimally invasive surgery (MIS) is configured with a wrist to improve flexibility in surgical operation. However, this configuration has a shortcoming that leads to coupled motion between the wrist and end-effector.

Authors

  • Guojun Niu
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, China.
  • Bo Pan
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, China.
  • Fuhai Zhang
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
  • Haibo Feng
    Harbin Institute of Technology, Harbin, Heilongjiang Province, China.
  • Yili Fu
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.

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