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

Comin, Francisco J, Saaj, Chakravarthini, Mustaza, Seri Mastura and Saaj, Rajendran (2018) Safe Testing of Electrical Diathermy Cutting using a New Generation Soft Manipulator IEEE Transactions on Robotics.

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Abstract

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.

Item Type: Article
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
NameEmailORCID
Comin, Francisco J
Saaj, ChakravarthiniC.Saaj@surrey.ac.uk
Mustaza, Seri Masturas.mustaza@surrey.ac.uk
Saaj, Rajendran
Date : 5 September 2018
Funders : EU Seventh Framework Program
DOI : 10.1109/TRO.2018.2861898
Copyright Disclaimer : © 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.
Uncontrolled Keywords : Medical Robots, Minimally Invasive Surgery, Flexible Arms, Force Control, Diathermy Cutting.
Depositing User : Melanie Hughes
Date Deposited : 24 Aug 2018 09:19
Last Modified : 11 Dec 2018 11:24
URI: http://epubs.surrey.ac.uk/id/eprint/849089

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