21 December 1995 Comparison of two manipulator designs for laparoscopic surgery
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Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197308
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States
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.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Janez Funda, Janez Funda, B. N. Eldridge, B. N. Eldridge, Kreg Gruben, Kreg Gruben, Steve Gomory, Steve Gomory, Russell H. Taylor, Russell H. Taylor, } "Comparison of two manipulator designs for laparoscopic surgery", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); doi: 10.1117/12.197308; https://doi.org/10.1117/12.197308
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