Title :
Tissue compliance determination using a da Vinci instrument
Author :
Anooshahpour, Farshad ; Polushin, Ilia G. ; Patel, Rajni V.
Author_Institution :
Dept. of Electr. & Comput. Eng., Western Univ., London, ON, Canada
Abstract :
In this paper, based on the apparent stiffness analysis of a dual tendon-sheath system, we propose a method for using a surgical instrument of the da Vinci surgical robotic system (from Intuitive Surgical Inc.) for estimation of mechanical properties of tissues. The performance of the method is experimentally evaluated by comparing tissues with different stiffnesses and by localizing tumors in an artificial tissue sample.
Keywords :
biological tissues; biomechanics; biomedical equipment; medical robotics; surgery; da Vinci surgical robotic system; dual tendon-sheath system; surgical instrument; tissue compliance determination; tissue mechanical properties estimation; tumor localization; Actuators; Force; Instruments; Pulleys; Tendons; Torque; Tumors;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139945
