Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting

Author

Sallé, Damien ; Bidaud, Philippe ; Morel, Guillaume

Author_Institution

Lab. de Robotique de Paris, Paris VI Univ., France

Volume

2

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

1276

Abstract

This paper introduces an original, dextrous, active and modular minimally invasive instrument dedicated to coronary artery bypass grafting surgery. Its design is obtained by a generic evolutionary optimization process using Pareto-based multi objective genetic algorithms and including highly realist simulations and experimental models of the surgical gesture. The optimal instrument has 5 intra-body DOFs, is actuated by brush-less micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.

Keywords

Pareto optimisation; biomedical equipment; genetic algorithms; micropositioning; surgery; 5 intrabody DOF; Pareto based multi objective genetic algorithms; brushless micromotors; coronary artery bypass grafting surgery; generic evolutionary optimization; modular minimally invasive surgery instrument; position control; Algorithm design and analysis; Arteries; Design optimization; Genetic algorithms; Heart; Micromotors; Minimally invasive surgery; Orbital robotics; Robots; Surgical instruments;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308000

Filename

1308000