Publications de Ricardo Daniel Rita Beira

Mechanical teleoperated device for remote manipulation

Lionel Flaction, Ricardo Daniel Rita Beira

A mechanical teleoperated device comprising: a slave unit (10) an end-effector (40) a master unit (20) and a handle (30). Mechanical transmission means are arranged to kinematically connect the slave unit (10) with the master unit (20) such that the moveme ...

2013

Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery

Ricardo Daniel Rita Beira

Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...

EPFL2013

Mechanical manipulator for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

2012

Ergonomic handle for haptic devices

Hannes Bleuler, Ricardo Daniel Rita Beira

A ergonomic handle that can be added to existing haptic devices, composed by a spherical mechanism providing hand orientation and a grasping mechanism is shown. Both the proposed spherical mechanism and the handle have been ergonomically designed to avoid ...

2012

Mechanical positioning system for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...

2012

Tremo: an inspection climbing inchworm based on magnetic switchable device

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Ricardo Daniel Rita Beira

TREMO is a compact magnetic climbing inchworm with the capability to move in complex ferromagnetic environments. The robot fits inside a cylinder of 500 mm in height and 120 mm in diameter for an approximate weight of 800 g. It has a modular configuration ...

World Scientific2011

Ein Greifer für Minimal-invasive Robotisierte Chirurgie mit integriertem Kraftsensor

Hannes Bleuler, Mathieu Joseph Charles Stephan, Ricardo Daniel Rita Beira, Laura Santos Carreras, Giulio Rognini, Ali Sengül

2010

Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling

Hannes Bleuler, Patrick Schoeneich, Ricardo Daniel Rita Beira, Masayuki Hara, Ali Sengül

Increased miniaturization of surgical instruments is essential to successfully perform surgical procedures in restricted areas as in many applications of minimally-invasive surgery. Miniaturization permits increase in dexterity and decrease in access incis ...

2010

Modeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF

Hannes Bleuler, Mathieu Joseph Charles Stephan, Ricardo Daniel Rita Beira, Laura Santos Carreras, Giulio Rognini, Ali Sengül

This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgi ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Influence of force and torque feedback on operator performance in a VR-based suturing task

Hannes Bleuler, Roger Gassert, Ricardo Daniel Rita Beira, Laura Santos Carreras, Ali Sengül

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an a ...

Taylor & Francis2010