Andreas Röse

A novel piezoelectric driven laparoscopic instrument with multiple degree of freedom parallel kinematic structure

The development of a novel actuator driven laparoscopic instrument with parallel kinematic instrument tip serves to overcome the workspace restrictions of classic laparoscopic instruments and provides the surgeon multiple degrees of freedom (DOF) inside the patients body.

A Novel Laparoscopic Instrument with Multiple Degrees of Freedom and Intuitive Control

The development of a novel laparoscopic instrument INKOMAN (intracorporeal manipulator) serves to overcome the workspace restrictions of classic laparoscopic instruments and provide the surgeon multiple degrees of freedom (DOF) inside the body.

A parallel kinematic mechanism for highly flexible laparoscopic instruments

Classic laparoscopic instruments suffer from their rigid structure and have only four degrees of freedom limited by the pivot point at the access to the abdomen. Inside the body they are rigid. The surgeon has to choose the access carefully because a change in the required working direction might require a new access. Additionally some operation tasks are impossible in laparoscopic surgery since the organs are not accessible in a straight line.

Operational Concept for a Handheld Laparoscopic Telemanipulation System: Design and Animal Experiment

In this paper the design of a control element for a novel telemanipulation system for laparoscopic surgery is presented. This control element is used to operate a manipulator with a four-degree-of-freedom intracorporeal kinematic structure. In order to be applicable in medical interventions it has to be designed in a way that it can be easily captured and released by the surgeon. Therefore various grips are discussed and a clasp grip using little, ring and middle finger is chosen. The handle is designed with respect to ergonomic measures. In a first concept the manipulator is operated by a 3-DOF joystick implementing a direct input of position commands. Due to surgeons’ feedback a second prototype is built based on the control the of the manipulator’s speed by a 2-DOF joystick. The latter has sucessfully been tested in an animal experiment. In the future the control element will be equipped with active haptic feedback.

Telemetrisches Meßsystem zur Bestimmung des Druckes der Zunge gegen den Gaumen. Telemetric System for Measuring the Pressure of the Tongue on the Palate

The development of the upper jaw during growth is influenced by the function and position of the tongue and perioral soft tissues, and the pressures exerted by them. Accurate determination of the forces exerted by the tongue would provide relevant information about this influence. To date, our ability to obtain continuous recordings of the tongue pressure during certain functions is limited. In this paper, an easy-to-employ and accurate telemetric system for such functional measurements is presented. The system, consisting of four piezoresistive pressure sensors, a microcontroller, a telemetric module and batteries, is integrated within a removable orthodontic plate and transmits the measured data out of the oral cavity to a receiver.