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Safe Testing of Electrical Diathermy Cutting Using a New Generation Soft Manipulator
2018
IEEE Transactions on robotics
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Abstract-First demonstration of a pneumatic soft continuum robot integrated in series with a rigid robot arm safely performing tele-operated diathermic tissue cutting. The rigid arm autonomously maintains a safe tool contact force, while the soft arm manually follows the desired cutting path. Ex-vivo experimentation demonstrates sub-millimetric deviations from target paths.
doi:10.1109/tro.2018.2861898
fatcat:vzudg7n6bfhwthzcytzunlhtl4