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Compact Generic Multi-Channel Plastic Joint for Surgical Instrumentation

Abstract : With the progress of the miniaturisation, we can expect to integrate new embedded micro-systems such as micro-sensors and micro-actuators into surgical instruments to assist surgeons during minimally invasive surgery (MIS). This paper presents a compact plastic joint with several channels to integrate wires and optical fibres. These wires and fibres will be used to supply and send data from micro-devices inside surgical tools. The aim of our study is to design a biocompatible compact joint with two degrees of freedom and a mobility range close to ±90°. The architecture of this new joint is based on a generic design with biocompatible plastic and super-elastic NiTi wires. Analytical simulation allows to readily suggest different solutions for different scales. Because the surgeon works with a visual feedback, the articulated joint is controlled in an open-loop configuration. Finally, this paper presents two kinds of applications that use the plastic joint: a tele-operated surgical robot and a hand-held surgical instrument.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00192069
Contributor : Etienne Dombre <>
Submitted on : Monday, November 26, 2007 - 2:56:17 PM
Last modification on : Friday, January 10, 2020 - 9:08:10 PM

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Frederick van Meer, Johannes Philippi, Daniel Estève, Etienne Dombre. Compact Generic Multi-Channel Plastic Joint for Surgical Instrumentation. Mechatronics, Elsevier, 2007, 17 (10), pp.562-569. ⟨10.1016/j.mechatronics.2007.07.002⟩. ⟨lirmm-00192069⟩

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