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MICA - Actuated and Sensorized Instruments for Minimally Invasive Surgery
The DLR MICA is the second generation of the versatile instruments for minimally invasive surgery developed at the Institute of Robotics and Mechatronics. MICA is a 3 degrees of freedom robot, which – in the MiroSurge system – represents additional joints of the lightweight robot arm MIRO. In the present configuration MICA consists of a drive unit, a tool interface and the task specific tool. The tool is composed of shaft, wrist, end-effector and force/torque sensor, providing dexterity and force feedback for delicate surgical procedures.
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