Mueglitz J, Kunad G, Dautzenberg P, Neisius B, Trapp R
Nuclear Research Centre Karlsruhe, Division of Technical Engineering, Germany.
Endosc Surg Allied Technol. 1993 Jun;1(3):160-4.
The article discusses handling problems in endoscopic surgery and concepts for the augmentation of instrument dexterity. The authors present a kinematic concept for improved surgical tool positioning and orientation. Using a trunk mechanism it is possible to assure augmented dexterity and stiffness for endoscopic handling. The paper addresses the use of steerable endoscopic instruments in a manipulator system for minimal invasive surgery.
