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Hand-held robotic instrument for dextrous laparoscopic interventions.

Marco Piccigallo¹, Francesco Focacci, Oliver Tonet

¹CRIM Laboratory, Scuola Supereriore Sant'Anna, Pisa, Italy. m.piccigallo@crim.sssup.it

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|September 23, 2008

Summary

This study introduces a new one-handed robotic surgical instrument designed to improve surgeon dexterity. Its ergonomic design and 3-DOF end-effector offer intuitive control for complex minimally invasive procedures.

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Area of Science:

Robotics in Surgery
Minimally Invasive Surgical Technologies
Surgical Instrument Design

Background:

Conventional surgical instruments for minimally invasive procedures often lack flexibility and dexterity.
Tasks like suturing are challenging due to limited degrees of freedom (DOF) in existing instruments.

Purpose of the Study:

To develop a novel hand-held robotic surgical instrument.
To enhance surgeon dexterity and control during minimally invasive procedures.

Main Methods:

Development of a lightweight, ergonomic, one-handed robotic instrument.
Incorporation of a 3-DOF roll-pitch-roll end-effector.
Design of a handle with direct mapping between handle and end-effector orientation.

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Main Results:

The instrument features a handle and an end-effector.
The handle design is based on control mode studies for laparoscopic instruments.
Direct orientation mapping enhances intuitive control.

Conclusions:

The developed instrument integrates mechanical, electronic, and ergonomic considerations.
It aims to provide surgeons with enhanced dexterity and an intuitive interface.
This robotic instrument represents a significant advancement in surgical tool design.