DocumentCode
716795
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
fYear
2015
fDate
26-30 May 2015
Firstpage
5344
Lastpage
5349
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139945
Filename
7139945
Link To Document