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

Damien Sallé; Philippe Bidaud; Guillaume Morel

doi:10.1109/robot.2004.1308000

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

Damien Sallé^*
, Philippe Bidaud
, Guillaume Morel

^*Corresponding author for this work

Institut des Systèmes Intelligents et de Robotique

Research output: Contribution to journal › Conference article › peer-review

32 Citations (Scopus)

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 brushless micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.

Original language	English
Pages (from-to)	1276-1281
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	2
DOIs	https://doi.org/10.1109/robot.2004.1308000
Publication status	Published - 2004
Externally published	Yes
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004

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10.1109/robot.2004.1308000

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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 brushless micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.",

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AU - Sallé, Damien

AU - Bidaud, Philippe

AU - Morel, Guillaume

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N2 - 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 brushless micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.

AB - 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 brushless micro motors and is position controlled. Its optimization, mechanical design and performances are discussed.

UR - https://www.scopus.com/pages/publications/3042622332

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DO - 10.1109/robot.2004.1308000

M3 - Conference article

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SN - 1050-4729

VL - 2004

SP - 1276

EP - 1281

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

IS - 2

T2 - Proceedings- 2004 IEEE International Conference on Robotics and Automation

Y2 - 26 April 2004 through 1 May 2004

ER -

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

Abstract

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