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

@article{Bhargav2012ACE,
  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},
  year={2012},
  volume={6},
  pages={041005}
}
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… 
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