Compact Generic Multi-Channel Plastic Joint for Surgical Instrumentation - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Mechatronics Year : 2007

Compact Generic Multi-Channel Plastic Joint for Surgical Instrumentation


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.

Dates and versions

lirmm-00192069 , version 1 (26-11-2007)



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