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Three-dimensional robotic-assisted endomicroscopy with a force adaptive robotic arm

Wisanuvej, Piyamate and Giataganas, Petros and Leibrandt, Konrad and Liu, Jindong and Hughes, Michael and Yang, Guang-Zhong (2017) Three-dimensional robotic-assisted endomicroscopy with a force adaptive robotic arm. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 2379-2384. ISBN 978-1-5090-4634-8. E-ISBN 978-1-5090-4633-1. (doi:10.1109/ICRA.2017.7989276) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided. (Contact us about this Publication)
Official URL
https://dx.doi.org/10.1109/ICRA.2017.7989276

Abstract

Effective in situ, in vivo tumour margin assessment is an important, yet unmet, clinical demand in surgical oncology. Recent advances in probe-based optical imaging tools such as confocal endomicroscopy is making inroads in clinical applications. In practice, maintaining consistent tissue contact whilst ensuring large area surveillance is crucial for its practical adoption and for this reason there is a great demand for robotic assistance so that high-speed endomicroscopes can be combined with autonomous scanning, thus simphfying its incorporation in routine surgical workflows. In this paper, a cooperatively controlled robotic manipulator is developed, which provides a stable mechatronicaUy-enhanced platform for micro-scanning tools to perform local high resolution mosaics over 3D undulating moving surfaces. Detailed kinematic and overall system performance analyses are provided and the results demonstrate the adaptabUity in terms of both contact force and orientation control of the system, and thus its simplicity in practical deployment and value for clinical adoption.

Item Type: Book section
DOI/Identification number: 10.1109/ICRA.2017.7989276
Uncontrolled keywords: Probes; force; tools; robot sensing systems; manipulators
Subjects: Q Science
Divisions: Faculties > Sciences > School of Physical Sciences > Applied Optics Group
Depositing User: Michael Hughes
Date Deposited: 16 Aug 2017 10:53 UTC
Last Modified: 26 Sep 2019 10:47 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/62854 (The current URI for this page, for reference purposes)
Hughes, Michael: https://orcid.org/0000-0001-5301-2492
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