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Conception et réalisation d'une instrumentation terminale intégrée en chirurgie mini-invasive robotisée

Abstract : We have witnessed since few years the emergence of automated surgery aiming at the improvement of surgical procedures, operating team's working conditions and patient's comfort. This thesis falls within the RNTS national project called EndoXirob, the objective of which is the realization of an automated minimally invasive surgery device.The main objective of our work is dedicated to the conception and realization, using microsystem technologies, of a poly-articulated surgical instrumentation equipped with integrated terminal tools allowing for stress measurement and thermo-coagulant cut of living tissues.Our suggestion makes use of an innovative poly-articulated articulation, similar to the "snake body" type. This articulation, controlled by 4 or 6 wires, is composed of plastic wrist joint connections accompanied by many metallic wires insuring stiffness in both torsion and flexing. Force feedback in tele-operated instrumentation is strongly requested by surgeons. Our work deals with the microsystem conception of a two axis stress sensor to measure pulling forces on tissues in the jaws plane. This microsystem uses two Silicon levels integrating a 4 orthogonal branches gauge and a set of plane electrodes inter-digitized.Tissues cutting and coagulation represents an important part in the surgical act and constitute a good base for the development of an intelligent terminal toolset. We have studied the conception of auto-regulated thermo-heating Silicon blades allow the cutting and the thermo-coagulationo of tissues. Beyond simple cut and stress measurement, we can imagine the integration on surgical tools of other micro-sensors or micro-actuators. It would then be possible to increase the surgical act safety by evaluating, for example, the presence of arterials, blood vessels or nerves in the vicinity of the surgical tool.Finally, we suggest a futurology reflection based on the miniaturization of a portable robot with a compact mechanism driving the terminal articulat ion of the surgical tool. A last reflection evaluates an extreme solution where all the degrees of freedom in the robot are transferred inside
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Contributor : Emilie Marchand <>
Submitted on : Friday, June 17, 2005 - 2:17:17 PM
Last modification on : Sunday, October 25, 2020 - 7:08:18 AM
Long-term archiving on: : Friday, April 2, 2010 - 9:36:11 PM


  • HAL Id : tel-00009521, version 1


Frederick van Meer. Conception et réalisation d'une instrumentation terminale intégrée en chirurgie mini-invasive robotisée. Automatique / Robotique. INSA de Toulouse, 2005. Français. ⟨tel-00009521⟩



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