A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

  title={A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting},
  author={Santosh D. B. Bhargav and Shanthanu Chakravarthy and Gondi Kondaiah Ananthasuresh},
  journal={Journal of Medical Devices-transactions of The Asme},
This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated 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 amplified elastic deformation of the compliant end… 
MagNex — Expendable robotic surgical tooltip
The proposed design aims at mitigating bio-fouling of surgical tools by implementing a monolithic design for surgical tooltip, the cleaning and sterilization processes needed after every surgery for traditional surgical robotic tools is considerably simplified.
Topology Optimization of Compliant Mechanism for Laparoscopic Surgery Instruments
Compliant mechanisms are flexible single-piece structures that produce the desired movement by going through elastic deformation, which is different from the traditional mechanisms that are joined by
Design and Analysis of Two Compliant Mechanism Designs for Use in Minimally Invasive Surgical Instruments
The models and principles included in this work could be used in the application of compliant mechanisms to design new MIS instruments as well as in other areas that employ compliant mechanisms in a cylindrical form factor.
Surgical Applications of Compliant Mechanisms: A Review
The application of compliant mechanisms to surgical interventions is reviewed and the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployed devices.


A compliant end-effector for microscribing
Design and application of compliant mechanisms for surgical tools.
The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications, highlighting the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.
A scalable platform for biomechanical studies of tissue cutting forces
A novel and scalable experimental platform for biomechanical analysis of tissue cutting that exploits a triaxial force-sensitive scalpel and a high resolution vision system and can be scaled down, thus enabling in vivo real-time robotic applications.
3D and 2D finite element analysis in soft tissue cutting for haptic display
Real-time medical simulation for robotic surgery planning and surgery training requires realistic yet computationally fast models of the mechanical behavior of soft tissue. This paper presents a
Methods for haptic feedback in teleoperated robot-assisted surgery
Experiments are described to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance, including active operator assistance through "virtual fixtures" and the automatic acquisition of tissue properties.
Modeling of needle insertion forces for robot-assisted percutaneous therapy
  • Christina Simone, A. Okamura
  • Engineering
    Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
  • 2002
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins University Steady Hand
Deformation resistance in soft tissue cutting: a parametric study
  • T. Chanthasopeephan, J. Desai, A. Lau
  • Materials Science
    12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.
  • 2004
The deformation resistance to the cutting blade was quantified via a quantity designed as the local effective modulus (LEM) of the tissue through monitoring the cutting forces and blade displacement for various cutting speeds and cutting angles.
Measurement, Analysis, and Display of Haptic Signals During Surgical Cutting
Experiments demonstrated that human subjects could identify tissues with similar accuracy when performing a real or simulated cutting task, and the use of haptic recordings to generate the simulations was simple and efficient, but it lacked flexibility because only the information obtained during data acquisition could be displayed.
Miniature Compliant Grippers With Vision-Based Force Sensing
A vision-based force-sensing technique by solving Cauchy's problem in elasticity using an improved algorithm is presented and validated at the macroscale, where there was an independent method to estimate the force.
Phantom materials for elastography
Acoustic and mechanical properties are reported for gelatin materials used to construct tissue-like phantoms for elasticity imaging (elastography). A device and procedure for measuring elastic