A Compliant End-effector to Limit the Force in Tele-operated Tissue-Cutting
نویسندگان
چکیده
We present a compliant end-effector that helps in cutting soft tissues and sensing the cutting forces. The design of the end-effector is such that it has an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is shown with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses deformation of the compliant end-effector. Furthermore, we demonstrate an immersive tele-operated tissuecutting system together with a haptic device that gives real-time force feedback to the user.
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