A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting
| Autor: | Santosh D. B. Bhargav, G. K. Ananthasuresh, Shanthanu Chakravarthy |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2012 |
| Předmět: |
Computer science
Mechanical Engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Biomedical Engineering Medicine (miscellaneous) Mechanical engineering Robot end effector Nonlinear finite element analysis Safe handling Imaging phantom law.invention law Cutting force Limit (music) ComputingMethodologies_COMPUTERGRAPHICS Haptic technology |
| Zdroj: | IndraStra Global. |
| ISSN: | 2381-3652 |
| Popis: | This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses amplified elastic deformation of the compliant end-effector. We also demonstrate an immersive tele-operated tissue-cutting system together with a haptic device that gives real-time force feedback to the user. DOI: 10.1115/1.4007638] |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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