Ricardo Daniel Rita Beira

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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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Ricardo Daniel Rita Beira

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

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

Mechanical positioning system for surgical instruments

Mechanical manipulator for surgical instruments

Tremo: an inspection climbing inchworm based on magnetic switchable device

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

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

Mechanical teleoperated device for remote manipulation

Ergonomic handle for haptic devices

Ein Greifer für Minimal-invasive Robotisierte Chirurgie mit integriertem Kraftsensor