ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.39

Hassan Zahraee, Ali (Universite Pierre et Marie Curie - Paris 6), Herman, Benoît (Université catholique de Louvain), Szewczyk, Jérôme (Université Pierre et Marie Curie-Paris 6)

Mechatronic Design of a Hand-Held Instrument with Active Trocar for Laparoscopy

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems, Mechanism Design of Manipulators


Instruments used in many types of minimally invasive procedures, in particular laparoscopy, are rigid or only limitedly flexible and some tasks like suturing are difficult to perform with them. A novel hand-held, lightweight and ergonomic mechatronic instrument is presented in this paper. The instrument has a 3-DOF roll-pitch-roll end-effector controlled using an easy to use handle that provides the surgeon with a 6-DOF movement, including a distal circular movement which resembles the circular movement of stitching. The design of the instrument is based on a global study involving control, dexterity and ergonomic aspects, with the aim of developing an instrument that enhances the dexterity of the surgeon while having an intuitive and ergonomic interface. A proof of concept prototype was built and tested in vitro and in vivo.



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