Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES)
Minimally invasive procedures such as Natural Orifice Transluminal Endoscopic Surgery (NOTES) require powerful, small, and flexible instruments. A cable-driven instrument was developed, which is able to retract tissue to create sufficient space for an actual operation (e.g. cholecystectomy). In this...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2022-09-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2022-1077 |
| _version_ | 1797947900590817280 |
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| author | Bachmann Ada L. Giacoppo Giuliano A. Pott Peter P. |
| author_facet | Bachmann Ada L. Giacoppo Giuliano A. Pott Peter P. |
| author_sort | Bachmann Ada L. |
| collection | DOAJ |
| description | Minimally invasive procedures such as Natural Orifice Transluminal Endoscopic Surgery (NOTES) require powerful, small, and flexible instruments. A cable-driven instrument was developed, which is able to retract tissue to create sufficient space for an actual operation (e.g. cholecystectomy). In this paper, the work space of a developed instrument is presented. The work space is calculated using direct kinematics equations and verified by measurement using an electromagnetic (EM) tracking system. The angular orientation of the instrument can be up to 85° with a length of the active section of 60 mm. However, a longitudinal rotation up to 17° becomes apparent. This is due to the characteristics of the steel cable used for actuation. Nevertheless, the instrument reaches the intended work space. Further measurements are necessary to evaluate the instrument’s behavior under payload and whether this affects the work space. |
| first_indexed | 2024-04-10T21:33:50Z |
| format | Article |
| id | doaj.art-8909c8e464ce48e1991b8b0b5aa74df4 |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-10T21:33:50Z |
| publishDate | 2022-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-8909c8e464ce48e1991b8b0b5aa74df42023-01-19T12:47:02ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042022-09-018230130410.1515/cdbme-2022-1077Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES)Bachmann Ada L.0Giacoppo Giuliano A.1Pott Peter P.2Institute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9, 70569Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9, 70569Stuttgart, GermanyInstitute of Medical Device Technology, University of Stuttgart, Pfaffenwaldring 9, 70569Stuttgart, GermanyMinimally invasive procedures such as Natural Orifice Transluminal Endoscopic Surgery (NOTES) require powerful, small, and flexible instruments. A cable-driven instrument was developed, which is able to retract tissue to create sufficient space for an actual operation (e.g. cholecystectomy). In this paper, the work space of a developed instrument is presented. The work space is calculated using direct kinematics equations and verified by measurement using an electromagnetic (EM) tracking system. The angular orientation of the instrument can be up to 85° with a length of the active section of 60 mm. However, a longitudinal rotation up to 17° becomes apparent. This is due to the characteristics of the steel cable used for actuation. Nevertheless, the instrument reaches the intended work space. Further measurements are necessary to evaluate the instrument’s behavior under payload and whether this affects the work space.https://doi.org/10.1515/cdbme-2022-1077kinematic analysisrobotic endoscopyinstrumentgrippernoteselectromagnetic tracking |
| spellingShingle | Bachmann Ada L. Giacoppo Giuliano A. Pott Peter P. Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) Current Directions in Biomedical Engineering kinematic analysis robotic endoscopy instrument gripper notes electromagnetic tracking |
| title | Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) |
| title_full | Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) |
| title_fullStr | Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) |
| title_full_unstemmed | Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) |
| title_short | Work space analysis of a new instrument for Natural Orifice Transluminal Endoscopic Surgery (NOTES) |
| title_sort | work space analysis of a new instrument for natural orifice transluminal endoscopic surgery notes |
| topic | kinematic analysis robotic endoscopy instrument gripper notes electromagnetic tracking |
| url | https://doi.org/10.1515/cdbme-2022-1077 |
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