Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft Manipulator

Comin, F.J., Saaj, C., Mustaza, S.M. and Saaj, R. (2018) Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft Manipulator. IEEE Transactions on Robotics, 34 (6). pp. 1659-1666. ISSN 1552-3098

Full content URL: http://doi.org/10.1109/TRO.2018.2861898

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Item Type:Article
Item Status:Live Archive

Abstract

The first demonstration of a pneumatic soft continuum robot is integrated in series with a rigid robot arm, safely performing teleoperated diathermic tissue-cutting. The rigid arm autonomously maintains a safe tool contact force, while the soft arm manually follows the desired cutting path. Ex-vivo experimentation demonstrates submillimetric deviations from target paths.

Additional Information:cited By 0
Divisions:College of Science > School of Engineering
ID Code:37426
Deposited On:07 Oct 2019 09:55

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