Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics
Identifieur interne : 000352 ( PascalFrancis/Curation ); précédent : 000351; suivant : 000353Force 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.
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.
pA |
|
---|
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001159
Links to Exploration step
Pascal:03-0339402Le 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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
</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>
<inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1083-4435</s0>
</fA01>
<fA03 i2="1"><s0>IEEE/ASME trans. mechatron.</s0>
</fA03>
<fA05><s2>8</s2>
</fA05>
<fA06><s2>1</s2>
</fA06>
<fA08 i1="01" i2="1" l="ENG"><s1>Force sensing microinstrument for measuring tissue properties and pulse in microsurgery : The new frontier of mechatronics</s1>
</fA08>
<fA11 i1="01" i2="1"><s1>MENCIASSI (Arianna)</s1>
</fA11>
<fA11 i1="02" i2="1"><s1>EISINBERG (Anna)</s1>
</fA11>
<fA11 i1="03" i2="1"><s1>CARROZZA (Maria Chiara)</s1>
</fA11>
<fA11 i1="04" i2="1"><s1>DARIO (Paolo)</s1>
</fA11>
<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>
</fA14>
<fA20><s1>10-17</s1>
</fA20>
<fA21><s1>2003</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA43 i1="01"><s1>INIST</s1>
<s2>26423</s2>
<s5>354000104248600020</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 2003 INIST-CNRS. 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. 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.</s0>
</fC01>
<fC02 i1="01" i2="3"><s0>001B00G07D</s0>
</fC02>
<fC02 i1="02" i2="3"><s0>001B00G10C</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>002B24O14</s0>
</fC02>
<fC03 i1="01" i2="3" l="FRE"><s0>0707D</s0>
<s2>PAC</s2>
<s4>INC</s4>
<s5>56</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE"><s0>0710C</s0>
<s2>PAC</s2>
<s4>INC</s4>
<s5>57</s5>
</fC03>
<fN21><s1>237</s1>
</fN21>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
</inist>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PascalFrancis/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000352 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PascalFrancis/Curation/biblio.hfd -nk 000352 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= PascalFrancis |étape= Curation |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. |