In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@article{Miyashita:2018:10.1007/s11548-018-1717-7,
author = {Miyashita, K and Oude, Vrielink T and Mylonas, G},
doi = {10.1007/s11548-018-1717-7},
journal = {International Journal of Computer Assisted Radiology and Surgery},
pages = {659--669},
title = {A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy},
url = {http://dx.doi.org/10.1007/s11548-018-1717-7},
volume = {13},
year = {2018}
}
TY - JOUR
AB - PURPOSE: Endomicroscopy (EM) provides high resolution, non-invasive histological tissue information and can be used for scanning of large areas of tissue to assess cancerous and pre-cancerous lesions and their margins. However, current robotic solutions do not provide the accuracy and force sensitivity required to perform safe and accurate tissue scanning. METHODS: A new surgical instrument has been developed that uses a cable-driven parallel mechanism (CPDM) to manipulate an EM probe. End-effector forces are determined by measuring the tensions in each cable. As a result, the instrument allows to accurately apply a contact force on a tissue, while at the same time offering high resolution and highly repeatable probe movement. RESULTS: 0.2 and 0.6 N force sensitivities were found for 1 and 2 DoF image acquisition methods, respectively. A back-stepping technique can be used when a higher force sensitivity is required for the acquisition of high quality tissue images. This method was successful in acquiring images on ex vivo liver tissue. CONCLUSION: The proposed approach offers high force sensitivity and precise control, which is essential for robotic EM. The technical benefits of the current system can also be used for other surgical robotic applications, including safe autonomous control, haptic feedback and palpation.
AU - Miyashita,K
AU - Oude,Vrielink T
AU - Mylonas,G
DO - 10.1007/s11548-018-1717-7
EP - 669
PY - 2018///
SN - 1861-6429
SP - 659
TI - A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy
T2 - International Journal of Computer Assisted Radiology and Surgery
UR - http://dx.doi.org/10.1007/s11548-018-1717-7
UR - https://www.ncbi.nlm.nih.gov/pubmed/29516353
UR - http://hdl.handle.net/10044/1/58453
VL - 13
ER -
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