1.
Med Image Comput Comput Assist Interv
; 13(Pt 3): 432-9, 2010.
Article
in English
| MEDLINE
| ID: mdl-20879429
ABSTRACT
We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results.