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

^*Autor correspondiente de este trabajo

Institut des Systèmes Intelligents et de Robotique

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

32 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	1276-1281
Número de páginas	6
Publicación	Proceedings - IEEE International Conference on Robotics and Automation
Volumen	2004
N.º	2
DOI	https://doi.org/10.1109/robot.2004.1308000
Estado	Publicada - 2004
Publicado de forma externa	Sí
Evento	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, Estados Unidos Duración: 26 abr 2004 → 1 may 2004

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title = "Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting",

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.",

author = "Damien Sall{\'e} and Philippe Bidaud and Guillaume Morel",

year = "2004",

doi = "10.1109/robot.2004.1308000",

language = "English",

volume = "2004",

pages = "1276--1281",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

note = "Proceedings- 2004 IEEE International Conference on Robotics and Automation ; Conference date: 26-04-2004 Through 01-05-2004",

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Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting. / Sallé, Damien; Bidaud, Philippe; Morel, Guillaume.
En: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2004, N.º 2, 2004, p. 1276-1281.

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

TY - JOUR

T1 - Optimal design of high dexterity modular MIS instrument for coronary artery bypass grafting

AU - Sallé, Damien

AU - Bidaud, Philippe

AU - Morel, Guillaume

PY - 2004

Y1 - 2004

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

U2 - 10.1109/robot.2004.1308000

DO - 10.1109/robot.2004.1308000

M3 - Conference article

AN - SCOPUS:3042622332

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

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