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Mechanical Manipulation of Neurons to Control Axonal Development
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Master-slave robotic system for needle indentation and insertion.

Jaehyun Shin1, Yongmin Zhong1, Chengfan Gu1

  • 1a School of Engineering , RMIT University , Bundoora , Australia.

Computer Assisted Surgery (Abingdon, England)
|September 23, 2017
PubMed
Summary
This summary is machine-generated.

This study introduces a master-slave robotic system for precise needle control in surgery. It effectively characterizes soft tissue interaction, enhancing robotic-assisted procedures.

Keywords:
Needle indentationhaptic characterizationmaster-slave robotneedle insertion

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Area of Science:

  • Robotics
  • Surgical Technology
  • Biomedical Engineering

Background:

  • Bilateral control in master-slave robotic systems is crucial for robotic-assisted minimally invasive surgery.
  • Accurate characterization of contact interaction between surgical robots and soft tissues is a significant challenge.

Purpose of the Study:

  • To present a master-slave robotic system capable of characterizing contact interaction during needle indentation and insertion.
  • To implement a bilateral controller and a nonlinear state observer for monitoring tissue interaction.

Main Methods:

  • Development of a master-slave robotic system for needle manipulation.
  • Implementation of a bilateral controller utilizing a linear motor.
  • Design of a novel nonlinear state observer for real-time contact monitoring.

Main Results:

  • The developed system successfully characterizes contact interaction between the robotic needle and soft tissues.
  • Experimental validation confirms the system's effectiveness in needle indentation and insertion tasks.

Conclusions:

  • The proposed master-slave robotic system offers a viable solution for controlling robotic needles during surgical procedures.
  • The integration of a nonlinear state observer enhances the system's ability to manage soft tissue interactions.