Orientation module for surgical instruments—a systematical approach

摘要

The design and analysis of a new module for the orientation of the instrument tip in minimally invasive surgery are presented in the paper. The aspects related to its design and modularity point out the advantages of the proposed solution: increased ergonomics and dexterity, wider workspace, reduced number of incisions. The solution is analysed with respect to the main drawbacks which are currently reported regarding the use of flexible instruments in minimally invasive procedures. A comparative study is performed analysing the workspace of classical instruments and the ones that use the orientation module in order to assess the possible benefits of the proposed solution. The same approach evaluates the behaviour and possible advantages of robotic surgical instruments equipped with such an orientation module.