A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy.

ABSTRACT:

Purpose

Endomicroscopy (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.

Methods

A 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.

Results

0.2 and 0.6 N force sensitivities w

SUBMITTER: Miyashita K 

PROVIDER: S-EPMC5953980 | biostudies-literature | 2018 May

REPOSITORIES: biostudies-literature