ePrints@IIScePrints@IISc Home | About | Browse | Latest Additions | Advanced Search | Contact | Help

A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

Bhargav, Santosh DB and Chakravarthy, Shanthanu and Ananthasuresh, GK (2012) A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting. In: JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME, 6 (4).

[img] PDF
jol_med_dev_tra_asme_6-4_2012.pdf - Published Version
Restricted to Registered users only

Download (2MB) | Request a copy
Official URL: http://dx.doi.org/10.1115/1.4007638


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]

Item Type: Journal Article
Additional Information: Copyright for this article belongs to ASME-AMER SOC MECHANICAL ENG, NEW YORK, USA
Keywords: compliant mechanisms;tissue-cutting;tele-operation;haptics
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Depositing User: Francis Jayakanth
Date Deposited: 03 Jan 2013 07:25
Last Modified: 03 Jan 2013 07:25
URI: http://eprints.iisc.ac.in/id/eprint/45581

Actions (login required)

View Item View Item