NDLI: Force feedback-based microinstrument for measuring tissue properties and pulse in microsurgery

Content Provider	IEEE Xplore Digital Library
Author	Menciassi, A. Eisinberg, A. Scalari, G. Anticoli, C. Carrozza, M.C. Dario, P.
Copyright Year	2001
Description	Author affiliation: MiTech Lab., Scuola Superiore Sant'Anna, Pisa, Italy (Menciassi, A.)
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 the surgeon 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 that are substantially reduced in MIS. The paper describes the main features and the performance of a prototype miniature robotic instrument consisting of a microfabricated microgripper, instrumented with semiconductor strain-gauges as force sensors. For the (in vitro) experiments reported in the paper, the microgripper is mounted on a workstation and teleoperated. A haptic interface provides force feedback to the operator. We have demonstrated that the system can discriminate tiny skin samples based on their different elastic properties, and feel microvessels based on pulsating fluid flowing through them.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	626
Ending Page	631
File Size	534906
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932620
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force measurement Pulse measurements Force feedback Microsurgery Minimally invasive surgery Surges Grippers Surgical instruments Mechanical factors Biological tissues
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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