|
A Light Endoscope holder Robot (LER) |
|
|
Endoscopic surgery requires the surgeon or one assistant to move the
endoscope in coordination with the intervention going on. For many years,
people have developed robots for this task. The original approach we proposed
consists in having a light robot positioned at the endoscope entry
point. Thus 3 degrees of freedom are
sufficient (two rotations around the entry point and one translation along
the endoscope axis). The LER can be controlled via voice instructions; visual
servoing to moving instruments is also possible.
LER is 625g and is sterilisable. |
|
|
References: P. Berkelman, P.
Cinquin, E. Boidard, J. Troccaz, C. Letoublon and J.-M. Ayoubi. Design, Control, and Testing of a
Novel Compact Laparascopic Endoscope Manipulator. Journal of Systems and Control Engineering, Vol217, No14,
pp329-341, 2003 (PDF) Long JA, Tostain J, Lanchon C, Voros S, Medici M, Descotes JL, Troccaz J, Cinquin P, Rambeaud JJ, Moreau-Gaudry A. First
Clinical Experience in Urologic Surgery with a Novel Robotic Lightweight
Laparoscope Holder. Journal of Endourology, 2013, 27(1):58-63, online first 2012 (PDF) |
|
|
Collaborations: Endocontrol Medical -
Departments of Urology (Pr Rambeaud) and
digestive surgery (Pr Letoublon) of Grenoble
University Hospital, Department of urology (Pr Richard) at |
|
|
Funding: ANR Tecsan 2006 Project ROSACE – project of the « Proof
of concept » program of canceropole
Rhône-Alpes (CLARA) |
|
|
Status: FINISHED (for the specific mechanical design I was involved
in) – still alive for visual servoing
projects (cf. Sandrine Voros) protected by patents. Industrial product Viky
from Endocontrol Medical; EC marked and FDA
approved; used on patients. Got the “EURON industrial transfer award” 3rd
place in 2007. |
|
|
Contact : philippe.cinquin@imag.fr or jocelyne.troccaz@imag.fr Or sandrine.voros@imag.fr
for visual servoing projects See Endocontrol Medical for information about the VIKY
product |
|
