Biomimetics and Dextrous Manipulation Lab

PassiveManipulator

1.  Vision for the 6DOF Passive Manipulator

During the insertion and manipulation of minimally invasive tools, a physician’s ability to accurately feel forces on the tool is compromised as it traverses tissues of varying properties. It is valuable to know, for example, when specific membranes are punctured, or if there is a fatty deposit occluding the tool’s trajectory. This work aims to provide interventional surgeons with the haptic cues for forces at the tip of a biopsy needle.

2.  Background

The manipulator can be used for control of the 3D shape-sensing, force-sensing, or active needle prototypes.

3.  Videos

4.  What’s New

Patent application published. https://www.google.com/patents/US20140257091?dq=14/204836&hl=en&sa=X&ei=sPwdVIfTM4KvogTS24KoBg&ved=0CB0Q6AEwAA

Paper accepted to ASME J. of Medical Devices (Sept. 18, 2014).

4.1  New version of the manipulator

(more to be added by Profiles.GenliangChen)

5.  Links

Private. PassiveManipulatorPrototypes
Publications

Category: MedicalRobotics

Page last modified on February 16, 2016, at 03:27 PM