This paper introduces a new surgical end-effector probe, which allows to accurately apply a contact force on a tissue, while at the same time allowing for high resolution and highly repeatable probe movement. These are achieved by implementing a cable-driven parallel manipulator arrangement, which is deployed at the distal-end of a robotic instrument. The combination of the offered qualities can be advantageous in several ways, with possible applications including: large area endomicroscopy and multi-spectral imaging, micro-surgery, tissue palpation, safe energy-based and conventional tissue resection. To demonstrate the concept and its adaptability, the probe is integrated with a modified da Vinci robot instrument.
@article{arxiv.1712.03374,
title = {A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy},
author = {Kiyoteru Miyashita and Timo Oude Vrielink and George Mylonas},
journal= {arXiv preprint arXiv:1712.03374},
year = {2017}
}
Comments
Submitted to IPCAI 2018 (The 9th International Conference on Information Processing in Computer-Assisted Interventions), 13 Pages, 12 Figures