Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS)
Within the past twenty years, the field of robotics has been finding many areas of applications ranging from space to underwater explo rations. One of these areas which is slowly gaining popularity among the users group is the notion of service robotics.
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ENGINEERING APPROACHES TO MECHANICAL AND ROBOTIC DESIGN FOR MINIMALLY INVASIVE SURGERY (MIS)
ALI FARAZ
Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University Burnaby, British Columbia CANADA
SHAHRAM PAYANDEH
Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University Burnaby, British Columbia CANADA
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SPRINGER SCIENCE+BUSINESS MEDIA, LLC
Library of Congress CataIoging-in-Publication Data Faraz, Ali. Engineering approaches to mechanical and robotic design for minimally invasive surgeries (MIS) / Ali Faraz, Shahram Payandeh. p. cm. -- (Kluwer international series in engineering and computer science) Includes index. ISBN 978-1-4613-6984-4 ISBN 978-1-4615-4409-8 (eBook) DOI 10.1007/978-1-4615-4409-8 1. Surgical instruments and apparatus--Design and construction. 2. Endoscopic surgery. 3. Robotics in medicine. 4. Biomedical engineering. l. Payandeh, Shahram, 1957- Il. Title. III. Series. RD7I.F362000 6 \0'. 28--dc21 00-020445
Copyright © 2000 by Springer Science+Business Media New York Originally published by Kluwer Academic Publishers 2000 Softcover reprint of the hardcover 1st edition 2000 AII rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, mechanical, photo-copying, record ing, or otherwise, without the prior written permission of the publisher, Springer Science+Business Media, LLC.
Prillled 0/1 acid-free paper.
Contents
List of Figures List of Tables Preface Acknowledgments 1. INTRODUCTION Typical set-up for laparoscopic surgery 1. 2. Surgical Problems in Endosurgery 2.1 Visual Problems 2.2 Movements
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