ArticleInternational journal of computer assisted radiology and surgery2018
A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy.
Article in International journal of computer assisted radiology and surgery, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 14 citations in OpenAlex.
- A novel contact optimization algorithm for endomicroscopic surface scanning.International journal of computer assisted radiology and surgery · 2024Article
- A Tension Sensor Array for Cable-Driven Surgical Robots.Sensors (Basel, Switzerland) · 2024Article
- Toward Mechanochromic Soft Material-Based Visual Feedback for Electronics-Free Surgical Effectors.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2021Article
- Laparoscopic surgical device with modular end tools for real-time endomicroscopy and therapy.Medical & biological engineering & computing · 2021Article
- Deployable, Variable Stiffness, Cable Driven Robot for Minimally Invasive Surgery.Frontiers in robotics and AI · 2019Article
Corrections and comments
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Authors and funding
3 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeEndomicroscopy (EM) provides high resolution, non-invasive histological tissue information and can be used for scanning of large areas of tissue to assess cancerous and pre-cancerous lesions and their margins. However, current robotic solutions do not provide the accuracy and force sensitivity required to perform safe and accurate tissue scanning.
methodsA new surgical instrument has been developed that uses a cable-driven parallel mechanism (CPDM) to manipulate an EM probe. End-effector forces are determined by measuring the tensions in each cable. As a result, the instrument allows to accurately apply a contact force on a tissue, while at the same time offering high resolution and highly repeatable probe movement.
results0.2 and 0.6 N force sensitivities were found for 1 and 2 DoF image acquisition methods, respectively. A back-stepping technique can be used when a higher force sensitivity is required for the acquisition of high quality tissue images. This method was successful in acquiring images on ex vivo liver tissue.
conclusionThe proposed approach offers high force sensitivity and precise control, which is essential for robotic EM. The technical benefits of the current system can also be used for other surgical robotic applications, including safe autonomous control, haptic feedback and palpation.
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Registered trials
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