Title :
Automatic surgical tools for penetrating flexible tissues
Author :
Brett, P.N. ; Fraser, C.A. ; Hennigan, M. ; Griffiths, M.V. ; Kamel, Y.
Author_Institution :
Adv. Manuf. & Autom. Res. Centre, Bristol Univ., UK
Abstract :
Describes techniques developed at the authors´ institute for controlling penetrating tools in non-rigid tissues. Two procedures are referenced to illustrate the approach. These procedures describe force characteristics and schemes for identifying critical states, and strategies for control. The authors consider: controlling tool penetration for microdrilling a stapedetomy; other procedures involving non-rigid tissues
Keywords :
biocontrol; biomechanics; biomedical equipment; computerised instrumentation; surgery; automatic surgical tools; control strategies; critical states identification; flexible tissues penetration; force characteristics; medical instrumentation; nonrigid tissues; stapedetomy microdrilling; tool penetration control; Automatic control; Availability; Bone tissue; Force control; Humans; Probes; Safety; Surgery; Surges; Trajectory;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
