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

Francisco Jose Comin, Chakravarthini Mini Saaj, Seri Mastura Mustaza, Rajendran Saaj

Research output: Contribution to journalArticle

Abstract

The first demonstration of a pneumatic soft continuum robot is integrated in series with a rigid robot arm, safely performing teleoperated 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 submillimetric deviations from target paths.

Original languageEnglish
JournalIEEE Transactions on Robotics
DOIs
Publication statusAccepted/In press - 4 Sep 2018
Externally publishedYes

Fingerprint

Hyperthermia therapy
Manipulators
Robots
Testing
Pneumatics
Demonstrations
Tissue

Keywords

  • Diathermy cutting
  • flexible arms
  • Force
  • force control
  • Manipulators
  • medical robots
  • minimally invasive surgery (MIS)
  • Pneumatic systems
  • Surgery
  • Task analysis
  • Tools

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft Manipulator. / Comin, Francisco Jose; Saaj, Chakravarthini Mini; Mustaza, Seri Mastura; Saaj, Rajendran.

In: IEEE Transactions on Robotics, 04.09.2018.

Research output: Contribution to journalArticle

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