HapticV1, Main, Merge, bibRecord, 007495

Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics

Identifieur interne : 007495 ( Main/Merge ); précédent : 007494; suivant : 007496

Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics

Auteurs : Arianna Menciassi [Italie] ; Anna Eisinberg [Italie] ; Maria Chiara Carrozza [Italie] ; Paolo Dario [Italie]

Source :

IEEE/ASME transactions on mechatronics [ 1083-4435 ] ; 2003.

RBID : Pascal:03-0339402

Descripteurs français

Pascal (Inist)
- 0707D, 0710C.

Abstract

Miniaturized and "smart" instruments capable of characterizing the mechanical properties of tiny biological tissues are needed for research in biology, physiology, and biomechanics, and can find very important clinical applications for diagnostics and minimally invasive surgery (MIS). We are developing a set of robotic microinstruments designed to augment the performance of surgeons and clinicians during MIS. These microtools are intended to restore (or even enhance) the finger palpation capabilities that the surgeon exploits to characterize tissue hardness and to measure pulsating vessels in traditional surgery, but which are substantially reduced in MIS. This paper describes the main applications and the performance of a prototype miniature robotic instrument consisting of a microfabricated microgripper, instrumented with semiconductor strain-gauges as force sensors. The experimental set-up used for the in vitro tests reported in this paper consists of the microprobe mounted on a workstation and teleoperated. A haptic interface provides force feedback to the operator. We have demonstrated that the system can discriminate, both qualitatively and quantitatively, tiny skin samples based on their different elastic properties, and "feel" microvessels on the basis of pulsating fluid flowing through them.

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 001159
to stream PascalFrancis, to step Curation: 000352
to stream PascalFrancis, to step Checkpoint: 000E63

Links to Exploration step

Pascal:03-0339402

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics</title>
<author><name sortKey="Menciassi, Arianna" sort="Menciassi, Arianna" uniqKey="Menciassi A" first="Arianna" last="Menciassi">Arianna Menciassi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Eisinberg, Anna" sort="Eisinberg, Anna" uniqKey="Eisinberg A" first="Anna" last="Eisinberg">Anna Eisinberg</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Carrozza, Maria Chiara" sort="Carrozza, Maria Chiara" uniqKey="Carrozza M" first="Maria Chiara" last="Carrozza">Maria Chiara Carrozza</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dario, Paolo" sort="Dario, Paolo" uniqKey="Dario P" first="Paolo" last="Dario">Paolo Dario</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">03-0339402</idno>
<date when="2003">2003</date>
<idno type="stanalyst">PASCAL 03-0339402 INIST</idno>
<idno type="RBID">Pascal:03-0339402</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">001159</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000352</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000E63</idno>
<idno type="wicri:doubleKey">1083-4435:2003:Menciassi A:force:sensing:microinstrument</idno>
<idno type="wicri:Area/Main/Merge">007495</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics</title>
<author><name sortKey="Menciassi, Arianna" sort="Menciassi, Arianna" uniqKey="Menciassi A" first="Arianna" last="Menciassi">Arianna Menciassi</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Eisinberg, Anna" sort="Eisinberg, Anna" uniqKey="Eisinberg A" first="Anna" last="Eisinberg">Anna Eisinberg</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Carrozza, Maria Chiara" sort="Carrozza, Maria Chiara" uniqKey="Carrozza M" first="Maria Chiara" last="Carrozza">Maria Chiara Carrozza</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Dario, Paolo" sort="Dario, Paolo" uniqKey="Dario P" first="Paolo" last="Dario">Paolo Dario</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Scuola Superiore Sant'Anna - CRIM Laboratory, 33</s1>
<s2>56127 Pisa</s2>
<s3>ITA</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Italie</country>
<wicri:noRegion>56127 Pisa</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">IEEE/ASME transactions on mechatronics</title>
<title level="j" type="abbreviated">IEEE/ASME trans. mechatron.</title>
<idno type="ISSN">1083-4435</idno>
<imprint><date when="2003">2003</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">IEEE/ASME transactions on mechatronics</title>
<title level="j" type="abbreviated">IEEE/ASME trans. mechatron.</title>
<idno type="ISSN">1083-4435</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="Pascal" xml:lang="fr"><term>0707D</term>
<term>0710C</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Miniaturized and "smart" instruments capable of characterizing the mechanical properties of tiny biological tissues are needed for research in biology, physiology, and biomechanics, and can find very important clinical applications for diagnostics and minimally invasive surgery (MIS). We are developing a set of robotic microinstruments designed to augment the performance of surgeons and clinicians during MIS. These microtools are intended to restore (or even enhance) the finger palpation capabilities that the surgeon exploits to characterize tissue hardness and to measure pulsating vessels in traditional surgery, but which are substantially reduced in MIS. This paper describes the main applications and the performance of a prototype miniature robotic instrument consisting of a microfabricated microgripper, instrumented with semiconductor strain-gauges as force sensors. The experimental set-up used for the in vitro tests reported in this paper consists of the microprobe mounted on a workstation and teleoperated. A haptic interface provides force feedback to the operator. We have demonstrated that the system can discriminate, both qualitatively and quantitatively, tiny skin samples based on their different elastic properties, and "feel" microvessels on the basis of pulsating fluid flowing through them.</div>
</front>
</TEI>
<affiliations><list><country><li>Italie</li>
</country>
</list>
<tree><country name="Italie"><noRegion><name sortKey="Menciassi, Arianna" sort="Menciassi, Arianna" uniqKey="Menciassi A" first="Arianna" last="Menciassi">Arianna Menciassi</name>
</noRegion>
<name sortKey="Carrozza, Maria Chiara" sort="Carrozza, Maria Chiara" uniqKey="Carrozza M" first="Maria Chiara" last="Carrozza">Maria Chiara Carrozza</name>
<name sortKey="Dario, Paolo" sort="Dario, Paolo" uniqKey="Dario P" first="Paolo" last="Dario">Paolo Dario</name>
<name sortKey="Eisinberg, Anna" sort="Eisinberg, Anna" uniqKey="Eisinberg A" first="Anna" last="Eisinberg">Anna Eisinberg</name>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 007495 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 007495 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Merge
   |type=    RBID
   |clé=     Pascal:03-0339402
   |texte=   Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics
}}

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur les dispositifs haptiques

Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics

Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics

Source :

Descripteurs français

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri