A Light Endoscope holder Robot (LER)

Endoscopic surgery requires the surgeon or one assistant to move the endoscope in coordination with the intervention going on. For many years, people have developed robots for this task. The original approach we proposed consists in having a light robot positioned at the endoscope entry point. Thus 3 degrees of freedom are sufficient (two rotations around the entry point and one translation along the endoscope axis). The LER can be controlled via voice instructions ; visual servoing to moving instruments is also possible. Ler is 625g and is sterilisable.

References: P. Berkelman, P. Cinquin, E. Boidard, J. Troccaz, C. Letoublon and J.-M. Ayoubi. Design, Control, and Testing of a Novel Compact Laparascopic Endoscope Manipulator. Journal of Systems and Control Engineering, Vol217, No14, pp329-341, 2003 (PDF)

Collaborations: PRAXIM-Medivision, Alpes-Instruments, Departments of Urology (Pr Rambeaud) and digestive surgery (Pr Letoublon) of Grenoble University Hospital – collaboration with Hawaii University (P. Berkelman) for an instrument holder version

Status: protected by patents, evaluation on cadavers and animals, clinical validation should start by the end of 2005, on-going industrial development

Contact : philippe.cinquin@imag.fr or jocelyne.troccaz@imag.fr

Laboratoire TIMC-IMAG, Domaine de la Merci, 38706 La Tronche Cedex

Grenoble INP
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