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Base complementarity between the three base pairs of mRNA codon and the tRNA anticodon is not a failsafe mechanism. Inaccuracies can range from a single mismatch to no correct base pairing at all. The free energy difference between the correct and nearly correct base pairs can be as small as 3 kcal/ mol. With complementarity being the only proofreading step, the estimated error frequency would be one wrong amino acid in every 100 amino acids incorporated. However, error frequencies observed in...
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Related Experiment Video

Updated: Feb 13, 2026

Terahertz Microfluidic Sensing Using a Parallel-plate Waveguide Sensor
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A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy.

Kiyoteru Miyashita1, Timo Oude Vrielink2, George Mylonas1

  • 1HARMS Lab, Department of Surgery and Cancer, Imperial College London, 3rd Floor Paterson Wing, 20 South Wharf Road, W2 1PF, London, UK.

International Journal of Computer Assisted Radiology and Surgery
|March 9, 2018
PubMed
Summary

A novel robotic surgical instrument enhances robotic endomicroscopy (EM) with precise force control. This advancement ensures safer tissue scanning for diagnosing cancerous lesions using high-resolution imaging.

Keywords:
Autonomous scanningCable-driven parallel mechanismsEndomicroscopyForce sensing

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Area of Science:

  • Robotics in Surgery
  • Medical Imaging
  • Biomedical Engineering

Background:

  • Endomicroscopy (EM) offers high-resolution, non-invasive tissue analysis for detecting cancerous and pre-cancerous lesions.
  • Current robotic systems lack the necessary accuracy and force sensitivity for safe and precise tissue scanning during EM procedures.

Purpose of the Study:

  • To develop a new surgical instrument for robotic endomicroscopy (EM) that overcomes the limitations of existing systems.
  • To achieve accurate force application and high-resolution, repeatable probe movement for enhanced tissue scanning.

Main Methods:

  • A cable-driven parallel mechanism (CPDM) was utilized to create a novel surgical instrument for manipulating the EM probe.
  • End-effector forces were precisely determined by measuring tensions within the instrument's cables.
  • A back-stepping technique was explored to enhance force sensitivity for high-quality image acquisition.

Main Results:

  • The developed instrument demonstrated high force sensitivity, achieving 0.2 N and 0.6 N for 1 and 2 Degrees of Freedom (DoF) image acquisition, respectively.
  • The back-stepping technique proved effective in improving force sensitivity for acquiring high-quality tissue images.
  • Successful image acquisition was demonstrated on ex vivo liver tissue, validating the system's performance.

Conclusions:

  • The proposed robotic EM approach provides essential high force sensitivity and precise control for safe and accurate surgical procedures.
  • The system's technical advantages, including precise force control and repeatability, are transferable to other robotic surgery applications.
  • Potential applications include safe autonomous control, haptic feedback, and palpation in robotic surgery.