Technical Brief

Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery1

[+] Author and Article Information
Filip Jelínek

Biomechanical Engineering Department,
Faculty Mechanical, Maritime, and Materials Engineering,
Delft University of Technology,
Delft, Netherlands

Ewout A. Arkenbout, Paul W. J. Henselmans, Paul Breedveld

BioMechanical Engineering Department,
Faculty Mechanical, Maritime and Materials Engineering,
Delft University of Technology,
Delft, Netherlands

Rob Pessers

Research & Development Group,
Stork Food & Dairy, Systems B.V.,
Amsterdam, Netherlands

Accepted and presented at the Design of Medical Devices Conference (DMD2014), Minneapolis, MN, April 7–10, 2014. DOI: 10.1115/1.4027035

Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030914 (Jul 21, 2014) (2 pages) Paper No: MED-14-1065; doi: 10.1115/1.4027035 History: Received February 21, 2014; Revised March 03, 2014

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Catherine, J., Rotinat-Libersa, C., and Micaelli, A., 2011, “Comparative Review of Endoscopic Devices Articulations Technologies Developed for Minimally Invasive Medical Procedures,” Appl. Bionics Biomech., 8(2), pp. 151–171. [CrossRef]
Fan, C., Dodou, D., and Breedveld, P., 2013, “Review of Manual Control Methods for Handheld Maneuverable Instruments,” Min. Invasive Ther. Allied Technol., 22(3), pp. 127–135. [CrossRef]
Cepolina, F., and Michelini, R. C., 2004, “Review of Robotic Fixtures for Minimally Invasive Surgery,” Int. J. Med. Robo. Comput. Assist. Surg., 1(1), pp. 43–63. [CrossRef]
Breedveld, P., Herder, J. L., and Tomiyama, T., 2011, “Teaching Creativity in Mechanical Design,” 4th World Conference on Design Research (IASDR2011), Delft, Netherlands, October 31–November 4, Paper No. 790.


Grahic Jump Location
Fig. 1

Graphical summary of the joint type classification, listing all the relevant up-to-date patents for each joint type category. Additional descriptors (C, L, RP, S) highlight various differing joint configurations within several joint type categories.



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