Design of a robotic instrument for minimally invasive waterjet surgery

Christopher Schlenk, Andrea Schwier, Michael Heiss, Thomas Bahls, Alin Albu-Schäffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Using a pressurized waterjet for cutting or abrasing tissue is a well established method in surgery. This paper presents a robotic tool for minimally invasive waterjet surgery with two degrees of freedom, integrated suction and an optional splash protection. The function of the tool and the effect of the splash protection on the suction of the applicated water was successfully evaluated in tests with ballistic gelatine. Based on this evaluated design, a concept for further increasing the oscillation frequency of the instrument tip is introduced and the results of preliminary tests of a simplified mockup are shown.

Original languageEnglish
Title of host publication2019 International Symposium on Medical Robotics, ISMR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538678251
DOIs
StatePublished - 8 May 2019
Externally publishedYes
Event2019 International Symposium on Medical Robotics, ISMR 2019 - Atlanta, United States
Duration: 3 Apr 20195 Apr 2019

Publication series

Name2019 International Symposium on Medical Robotics, ISMR 2019

Conference

Conference2019 International Symposium on Medical Robotics, ISMR 2019
Country/TerritoryUnited States
CityAtlanta
Period3/04/195/04/19

Keywords

  • Medical robotics
  • instrument
  • surgery
  • waterjet

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