Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator

Francisco J Comin; Chakravarthini Saaj; Seri Mastura Mustaza; Rajendran Saaj

doi:10.1109/TRO.2018.2861898

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Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator

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Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator

Francisco J Comin, Chakravarthini Saaj, Seri Mastura Mustaza and Rajendran Saaj

IEEE Transactions on Robotics

05/09/2018

DOI: https://doi.org/10.1109/TRO.2018.2861898

Abstract

Medical Robots

Minimally Invasive Surgery

Flexible Arms

Force Control

Diathermy Cutting.

First demonstration of a pneumatic soft continuum robot integrated in series with a rigid robot arm safely performing tele-operated diathermic tissue cutting. The rigid arm autonomously maintains a safe tool contact force, while the soft arm manually follows the desired cutting path. Ex-vivo experimentation demonstrates sub-millimetric deviations from target paths.

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Title: Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator
Creators: Francisco J Comin
Chakravarthini Saaj
Seri Mastura Mustaza
Rajendran Saaj
Publication Details: IEEE Transactions on Robotics
Publisher: IEEE
Date published: 05/09/2018
Date submitted: 24/08/2018
Grant note: Funder: EU Seventh Framework Program | Grant ID: 287728
Identifiers: 99514437202346
Copyright: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Academic Unit: School of Computer Science and Electronic Engineering
Resource Type: Journal article

Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator

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