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Erschienen in:

2012 | OriginalPaper | Buchkapitel

43. A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue

verfasst von : Jichun Li, Jelizaveta Zirjakova, Wei Yao, Kaspar Althoefer, Prokar Dasgupta, Lakmal D Seneviratne

Erschienen in: Advances in Reconfigurable Mechanisms and Robots I

Verlag: Springer London

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Abstract

This paper presents a novel portable passive robotic platform for three-dimensional scanning (3DS) of soft tissue, capable to evaluate mechanical properties and geometry in ex vivo condition. The platform comprises six degrees of freedom (DOF) passive robotic arm (Phantom Omni), a data acquisition system and a set of stiffness probes for force and stiffness measurement. The performance of the developed platform was validated by sliding indentation and uniaxial tissue indentation measurements on silicone phantoms, porcine organs and human prostates. The results show that the platform can perform effective measurements of soft tissue mechanical properties and help surgeons to identify embedded tumours.

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Vorheriges Kapitel Design and Analysis of a Portable Reconfigurable Minimally Invasive Surgical Robot

Nächstes Kapitel Design and Fabrication of DNA Origami Mechanisms and Machines

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Titel: A Passive Robotic Platform for Three-Dimensional Scanning of Ex Vivo Soft Tissue
verfasst von: Jichun Li
Jelizaveta Zirjakova
Wei Yao
Kaspar Althoefer
Prokar Dasgupta
Lakmal D Seneviratne
Verlag: Springer London
Buch: Advances in Reconfigurable Mechanisms and Robots I
Print ISBN: 978-1-4471-4140-2

Electronic ISBN: 978-1-4471-4141-9

Copyright-Jahr: 2012
DOI: https://doi.org/10.1007/978-1-4471-4141-9_43