Design and preliminary test results of a novel microsurgical telemanipulator system

R. Cau; F.B.F. Schoenmakers; M. Steinbuch; T.J.M. Mulken, van; R.R.W.J. Hulst, van der

doi:10.1109/BIOROB.2014.6913801

Design and preliminary test results of a novel microsurgical telemanipulator system

R. Cau, F.B.F. Schoenmakers, M. Steinbuch, T.J.M. Mulken, van, R.R.W.J. Hulst, van der

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

9 Downloads (Pure)

Abstract

In this paper a novel telemanipulator system is proposed, able to assist during reconstructive surgery procedures involving microsurgical techniques. The proposed solution is based on maintaining work methods and infrastructure in the operating room (OR). An extensive analysis of these conventional methodologies, combined with a review of currently available alternative solutions, has led to the design of a new 7DOF master-slave system. The modular design concept is focused on precision, safety, ease-of-use, and cost-efficiency. A proof-of-concept has been tested, whereas preliminary results indicate a bidirectional precision at the slave end effector of 70 µm. Through optimization of the control software, a bidirectional precision down to 30-40 µm can be achieved.

Original language	English
Title of host publication	Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil
Publisher	Institute of Electrical and Electronics Engineers
Pages	352-356
ISBN (Print)	978-1-4799-3128-6
DOIs	https://doi.org/10.1109/BIOROB.2014.6913801
Publication status	Published - 2014
Event	conference; IEEE BioRob 2014; 2001-08-12; 2014-08-15 - Duration: 12 Aug 2001 → 15 Aug 2014

Conference

Conference	conference; IEEE BioRob 2014; 2001-08-12; 2014-08-15
Period	12/08/01 → 15/08/14
Other	IEEE BioRob 2014

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10.1109/BIOROB.2014.6913801

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Cau, R., Schoenmakers, F. B. F., Steinbuch, M., Mulken, van, T. J. M., & Hulst, van der, R. R. W. J. (2014). Design and preliminary test results of a novel microsurgical telemanipulator system. In Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil (pp. 352-356). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/BIOROB.2014.6913801

Cau, R. ; Schoenmakers, F.B.F. ; Steinbuch, M. et al. / Design and preliminary test results of a novel microsurgical telemanipulator system. Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil. Institute of Electrical and Electronics Engineers, 2014. pp. 352-356

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title = "Design and preliminary test results of a novel microsurgical telemanipulator system",

abstract = "In this paper a novel telemanipulator system is proposed, able to assist during reconstructive surgery procedures involving microsurgical techniques. The proposed solution is based on maintaining work methods and infrastructure in the operating room (OR). An extensive analysis of these conventional methodologies, combined with a review of currently available alternative solutions, has led to the design of a new 7DOF master-slave system. The modular design concept is focused on precision, safety, ease-of-use, and cost-efficiency. A proof-of-concept has been tested, whereas preliminary results indicate a bidirectional precision at the slave end effector of 70 µm. Through optimization of the control software, a bidirectional precision down to 30-40 µm can be achieved.",

author = "R. Cau and F.B.F. Schoenmakers and M. Steinbuch and {Mulken, van}, T.J.M. and {Hulst, van der}, R.R.W.J.",

year = "2014",

doi = "10.1109/BIOROB.2014.6913801",

language = "English",

isbn = "978-1-4799-3128-6",

pages = "352--356",

booktitle = "Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "conference; IEEE BioRob 2014; 2001-08-12; 2014-08-15 ; Conference date: 12-08-2001 Through 15-08-2014",

}

Cau, R, Schoenmakers, FBF , Steinbuch, M, Mulken, van, TJM & Hulst, van der, RRWJ 2014, Design and preliminary test results of a novel microsurgical telemanipulator system. in Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil. Institute of Electrical and Electronics Engineers, pp. 352-356, conference; IEEE BioRob 2014; 2001-08-12; 2014-08-15, 12/08/01. https://doi.org/10.1109/BIOROB.2014.6913801

Design and preliminary test results of a novel microsurgical telemanipulator system. / Cau, R.; Schoenmakers, F.B.F.; Steinbuch, M. et al.
Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil. Institute of Electrical and Electronics Engineers, 2014. p. 352-356.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Cau R, Schoenmakers FBF , Steinbuch M, Mulken, van TJM, Hulst, van der RRWJ. Design and preliminary test results of a novel microsurgical telemanipulator system. In Proceedings of the2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), August 12-15, 2014, Sao Paulo, Brazil. Institute of Electrical and Electronics Engineers. 2014. p. 352-356 doi: 10.1109/BIOROB.2014.6913801

Design and preliminary test results of a novel microsurgical telemanipulator system

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