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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© 2004 Springer Science+Business Media New York
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Sallé, D., Bidaud, P. (2004). An Optimal Kinematic Design for a Highly Dextrous MIS Instrument. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_43
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DOI: https://doi.org/10.1007/978-1-4020-2249-4_43
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6622-0
Online ISBN: 978-1-4020-2249-4
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