Sensor integrated 3-DoF end-effector
Please cite DLR as the source for the images. "Images: DLR"
The DLR MICA is the second generation of versatile instruments for minimally invasive surgery developed at the Institute of Robotics and Mechatronics, designed as an interventive instrument coupled to the MIRO arm for minimally invasive procedures.MICA is a 3 degrees of freedom (DoFs) robot, which – in the MiroSurge scenario – is combined with the 7-DoF robot MIRO. Therewith, MICA adds the joints 8, 9 and 10 to the telemanipulator. It consists of a drive unit, a tool interface and the task specific tool with its shaft and end-effector.
Various tools targeted at different surgical applications will be used with the MICA drive unit, differing in the number of DoFs, functionality of the end effector, and range of motion. Propulsion for the tool is provided by means of 3 linear motions transmitted through a tool interface between drive unit and tool. The tool interface provides suitable propulsion scaling for the tool as well as standardized digital communication with any sensors located in the tool, such as the DLR force/torque sensor. In the present configuration the tool is comprised of a 2 DoF wrist, gripper and 7 DoF force/torque sensor, providing dexterous manipulation and haptic feedback from the operation site. However, tools can range from grippers, scissors to needle holders in minimally invasive surgery.
The versatile design approach followed for the MIRO and conformance to the MiroSurge setup outline a number of requirements for the instrument design:
Specifications
Downloads
For condensed information see our MICA handout.
Projects
Publications
S. Thielmann, U. Seibold, R. Haslinger, G. Passig, T. Bahls, S. Jörg, M. Nickl, A. Nothhelfer, U. Hagn and G. Hirzinger. „MICA - A new generation of versatile instruments in robotic surgery” IROS 2010, Taipei, Taiwan, 2010.
U. Seibold, B. Kuebler, S. Thielmann, and G. Hirzinger. „Endoscopic 3 DoF-Instrument with 7 DoF Force/Torque Feedback.” Workshop contribution, presented at ICRA2009, Kobe, Japan, 2009.
U. Hagn, R. Konietschke, A. Tobergte, M. Nickl, S. Jörg, B. Kübler, G. Passig, M. Gröger, F. Fröhlich, U. Seibold, L. Le-Tien, A. Albu-Schäffer, A. Nothhelfer, F. Hacker, M. Grebenstein, and G. Hirzinger. “DLR MiroSurge: a versatile system for research endoscopic telesurgery.” International Journal of Computer Assisted Radiology and Surgery, 2009; 5(2):183-193. DOI: 10.1007/s11548-009-0372-4.
U. Hagn, T. Ortmaier, R. Konietschke, B. Kübler, U. Seibold, A. Tobergte, M. Nickl, S. Jörg, and G. Hirzinger. “Telemanipulator for remote minimally invasive surgery.” IEEE Robotics & Automation Magazine, 15(4):28–38, December 2008.
U. Seibold, B. Kuebler, and G. Hirzinger. “Prototypic force feedback instrument for minimally invasive robotic surgery”, pages 377–400. Medical Robotics, I-Tech Education and Publishing, Vienna, Austria, 2008. ISBN-13: 978-3-902613-18-9.
B. Kübler, G. Passig, U. Seibold, and G. Hirzinger. “Prototypic setup of a surgical forced feedback instrument for minimally invasive robotic surgery.” In: Extended abstract and lecture, CURAC 2006, Hannover, 2006-10-12 - 2006-10-14
U. Seibold, B. Kübler, G. Passig, and G. Hirzinger. “Development of Actuated and Sensor Integrated Forceps for Minimally Invasive Robotic Surgery.” 5th World Congress on Biomechanics, München
B. Deml, T. Ortmaier, and U. Seibold. “The touch a and feel in minimally invasive surgery.” In HAVE 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications. Ottawa, Ontario, Canada, pages 33–38, October 2005.
B. Kübler, U. Seibold, and G. Hirzinger. “Development of actuated and sensor integrated forceps for minimally invasive robotic surgery.” The International Journal of Medical Robotics and Computer Assisted Surgery, 1(3):96–107, April 2005.
U. Seibold, B. Kübler, and G. Hirzinger. “Prototype of instrument for minimally invasive surgery with 6-axis force sensing capability.” In ICRA - Procedings of the IEEE International Conference on Robotics and Automation, pages 498–503, March 2005.
U. Seibold, B. Kübler, H. Weiss, T. Ortmaier, and G. Hirzinger. “Sensorized and actuated instruments for minimally invasive robotic surgery.” In EuroHaptics, pages 482–485, Munich, Germany, June 2004.
U. Seibold and G. Hirzinger. “A 6-axis force/torque sensor design for haptic feedback in minimally invasive robotic surgery.” In MICRO.tec - 2nd VDE World Microtechnologies Congress, pages 239–244, 2003.