Comparison of two manipulator designs for laparoscopic surgery

Janez Funda, B. N. Eldridge, Kreg Gruben, Steve Gomory, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


Two kinematically dissimilar robots for laparoscopic surgery have been designed and built through a collaborative effort between IBM Research and the Johns Hopkins University School of Medicine. The two mechanisms represent two distinct design approaches and a number of different engineering design decisions. In this paper we describe the mechanical design and kinematic structure of the two robots and report on the results of laboratory evaluations of the two mechanisms. The two systems are compared in terms of safety, ergonomics, ease of control, accuracy, and mechanical stiffness. In each of the categories we attempt to separate the impact of the particular design decisions made in the construction of each mechanism from the more general issue of the fundamental potential and limitations of each of the design approaches towards satisfying the particular design criterion. Based on our experience, we offer some conclusions and recommendations regarding the design of surgical robots for laparoscopy.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
PublisherSociety of Photo-Optical Instrumentation Engineers
Number of pages12
ISBN (Print)081941686X
StatePublished - Jan 1 1995
Externally publishedYes
EventTelemanipulator and Telepresence Technologies - Boston, MA, USA
Duration: Oct 31 1994Nov 1 1994

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


OtherTelemanipulator and Telepresence Technologies
CityBoston, MA, USA

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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