Comparison of two manipulator designs for laparoscopic surgery

Janez Funda; B. N. Eldridge; Kreg Gruben; Steve Gomory; Russell H. Taylor

Comparison of two manipulator designs for laparoscopic surgery

Janez Funda, B. N. Eldridge, Kreg Gruben, Steve Gomory, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Two kinematically dissimilar robots for laparoscopic surgery have been designed and built through a collaborative effort between IBM Research and the Johns Hopkins University School of Medicine. The two mechanisms represent two distinct design approaches and a number of different engineering design decisions. In this paper we describe the mechanical design and kinematic structure of the two robots and report on the results of laboratory evaluations of the two mechanisms. The two systems are compared in terms of safety, ergonomics, ease of control, accuracy, and mechanical stiffness. In each of the categories we attempt to separate the impact of the particular design decisions made in the construction of each mechanism from the more general issue of the fundamental potential and limitations of each of the design approaches towards satisfying the particular design criterion. Based on our experience, we offer some conclusions and recommendations regarding the design of surgical robots for laparoscopy.

Original language	English (US)
Title of host publication	Proceedings of SPIE - The International Society for Optical Engineering
Publisher	Society of Photo-Optical Instrumentation Engineers
Pages	172-183
Number of pages	12
ISBN (Print)	081941686X
State	Published - Jan 1 1995
Externally published	Yes
Event	Telemanipulator and Telepresence Technologies - Boston, MA, USA Duration: Oct 31 1994 → Nov 1 1994

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	2351
ISSN (Print)	0277-786X

Other

Other	Telemanipulator and Telepresence Technologies
City	Boston, MA, USA
Period	10/31/94 → 11/1/94

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

Cite this

Comparison of two manipulator designs for laparoscopic surgery. / Funda, Janez; Eldridge, B. N.; Gruben, Kreg et al.
Proceedings of SPIE - The International Society for Optical Engineering. Society of Photo-Optical Instrumentation Engineers, 1995. p. 172-183 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 2351).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Funda, J, Eldridge, BN, Gruben, K, Gomory, S & Taylor, RH 1995, Comparison of two manipulator designs for laparoscopic surgery. in Proceedings of SPIE - The International Society for Optical Engineering. Proceedings of SPIE - The International Society for Optical Engineering, vol. 2351, Society of Photo-Optical Instrumentation Engineers, pp. 172-183, Telemanipulator and Telepresence Technologies, Boston, MA, USA, 10/31/94.

@inproceedings{e5a8313f3d594b4cb1fb50ec4b7a8cdc,

title = "Comparison of two manipulator designs for laparoscopic surgery",

abstract = "Two kinematically dissimilar robots for laparoscopic surgery have been designed and built through a collaborative effort between IBM Research and the Johns Hopkins University School of Medicine. The two mechanisms represent two distinct design approaches and a number of different engineering design decisions. In this paper we describe the mechanical design and kinematic structure of the two robots and report on the results of laboratory evaluations of the two mechanisms. The two systems are compared in terms of safety, ergonomics, ease of control, accuracy, and mechanical stiffness. In each of the categories we attempt to separate the impact of the particular design decisions made in the construction of each mechanism from the more general issue of the fundamental potential and limitations of each of the design approaches towards satisfying the particular design criterion. Based on our experience, we offer some conclusions and recommendations regarding the design of surgical robots for laparoscopy.",

author = "Janez Funda and Eldridge, {B. N.} and Kreg Gruben and Steve Gomory and Taylor, {Russell H.}",

year = "1995",

month = jan,

day = "1",

language = "English (US)",

isbn = "081941686X",

series = "Proceedings of SPIE - The International Society for Optical Engineering",

publisher = "Society of Photo-Optical Instrumentation Engineers",

pages = "172--183",

booktitle = "Proceedings of SPIE - The International Society for Optical Engineering",

note = "Telemanipulator and Telepresence Technologies ; Conference date: 31-10-1994 Through 01-11-1994",

}

TY - GEN

T1 - Comparison of two manipulator designs for laparoscopic surgery

AU - Funda, Janez

AU - Eldridge, B. N.

AU - Gruben, Kreg

AU - Gomory, Steve

AU - Taylor, Russell H.

PY - 1995/1/1

Y1 - 1995/1/1

N2 - Two kinematically dissimilar robots for laparoscopic surgery have been designed and built through a collaborative effort between IBM Research and the Johns Hopkins University School of Medicine. The two mechanisms represent two distinct design approaches and a number of different engineering design decisions. In this paper we describe the mechanical design and kinematic structure of the two robots and report on the results of laboratory evaluations of the two mechanisms. The two systems are compared in terms of safety, ergonomics, ease of control, accuracy, and mechanical stiffness. In each of the categories we attempt to separate the impact of the particular design decisions made in the construction of each mechanism from the more general issue of the fundamental potential and limitations of each of the design approaches towards satisfying the particular design criterion. Based on our experience, we offer some conclusions and recommendations regarding the design of surgical robots for laparoscopy.

AB - Two kinematically dissimilar robots for laparoscopic surgery have been designed and built through a collaborative effort between IBM Research and the Johns Hopkins University School of Medicine. The two mechanisms represent two distinct design approaches and a number of different engineering design decisions. In this paper we describe the mechanical design and kinematic structure of the two robots and report on the results of laboratory evaluations of the two mechanisms. The two systems are compared in terms of safety, ergonomics, ease of control, accuracy, and mechanical stiffness. In each of the categories we attempt to separate the impact of the particular design decisions made in the construction of each mechanism from the more general issue of the fundamental potential and limitations of each of the design approaches towards satisfying the particular design criterion. Based on our experience, we offer some conclusions and recommendations regarding the design of surgical robots for laparoscopy.

UR - http://www.scopus.com/inward/record.url?scp=0029223133&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029223133&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0029223133

SN - 081941686X

T3 - Proceedings of SPIE - The International Society for Optical Engineering

SP - 172

EP - 183

BT - Proceedings of SPIE - The International Society for Optical Engineering

PB - Society of Photo-Optical Instrumentation Engineers

T2 - Telemanipulator and Telepresence Technologies

Y2 - 31 October 1994 through 1 November 1994

ER -

Comparison of two manipulator designs for laparoscopic surgery

Abstract

Publication series

Other

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this