Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics
Identifieur interne : 001159 ( PascalFrancis/Corpus ); précédent : 001158; suivant : 001160Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics
Auteurs : Arianna Menciassi ; Anna Eisinberg ; Maria Chiara Carrozza ; Paolo DarioSource :
- IEEE/ASME transactions on mechatronics [ 1083-4435 ] ; 2003.
Descripteurs français
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.
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| NO : | PASCAL 03-0339402 INIST |
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| ET : | Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics |
| AU : | MENCIASSI (Arianna); EISINBERG (Anna); CARROZZA (Maria Chiara); DARIO (Paolo) |
| AF : | Scuola Superiore Sant'Anna - CRIM Laboratory, 33/56127 Pisa/Italie (1 aut., 2 aut., 3 aut., 4 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | IEEE/ASME transactions on mechatronics; ISSN 1083-4435; Etats-Unis; Da. 2003; Vol. 8; No. 1; Pp. 10-17; Bibl. 18 ref. |
| LA : | Anglais |
| EA : | 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. |
| CC : | 001B00G07D; 001B00G10C; 002B24O14 |
| FD : | 0707D; 0710C |
| LO : | INIST-26423.354000104248600020 |
| ID : | 03-0339402 |
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Pascal:03-0339402Le document en format XML
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All rights reserved.</s1></fA44><fA45><s0>18 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>03-0339402</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>IEEE/ASME transactions on mechatronics</s0></fA64><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>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. 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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.</EA><CC>001B00G07D; 001B00G10C; 002B24O14</CC><FD>0707D; 0710C</FD><LO>INIST-26423.354000104248600020</LO><ID>03-0339402</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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