Paper Info
Title
A Soft Tissue Scalpel Cutting Robotic System With Sucker Fixation
Abstract
Soft tissue cutting is a fundamental operation in clinical treatments. Autonomous soft tissue cutting using scalpel, one of soft tissue cutting methods, is an emerging field. However, soft tissue displacement during cutting by robotic system is a bottleneck. In this paper, a robotic system is proposed with sucker that can fix soft tissue before and during cutting. The system consists of scalpel fixation and three degrees of freedom (DoF) motion structure and surrounding suckers at the bottom. Cutting curve is abstracted from the cut soft tissue imaged by X-ray. Then the curve is fitted using 10-order B-spline function. The experimental results provide a pilot study towards high precision soft tissue cutting robot.
Year
Venue
Field
2018
2018 IEEE 14TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)
Biomedical engineering,Robotic systems,Sucker,Control engineering,Engineering,Fixation (histology),Soft tissue,Robot
DocType
ISSN
Citations 
Conference
1948-3449
0
PageRank 
References 
Authors
0.34
0
11
Name
Order
Citations
PageRank
Peixuan Shi100.68
Bin Cheng29712.57
Ye Zong301.01
Yi Gong419728.72
Hao Yan5128.71
Yida Hu602.03
Huaqing Zhang7585.88
Shaolong Kuang804.06
Wenyong Liu911.42
Lixin Wang10116.19
Su Baiquan1123.17