Mechanical and Materials Engineering Publications

Title

A breakthrough in tumor localization

Document Type

Article

Publication Date

1-1-2017

Volume

24

Issue

2

Journal

IEEE Robotics and Automation Magazine

First Page

54

URL with Digital Object Identifier

10.1109/MRA.2017.2680544

Last Page

62

Abstract

Robotics-assisted minimally invasive surgery (RAMIS) helps surgeons to avoid manually palpating organs to locate subsurface tumors. Researchers present a novel instrument compatible with the da Vinci surgical robot that features both a tactile sensor and an ultrasound transducer back-to-back in its end effector. The instrument has an articulated wrist that allows it to efficiently palpate tissue in a wide range of orientations. The use of a custom, disposable tactile sensor avoids deterioration in sensor performance due to repeated sterilization. The instrument can apply a palpation force of up to 14 N in any orientation, allowing its use on various tissue types.

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