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

Wisanuvej, Piyamate, Giataganas, Petros, Leibrandt, Konrad, Liu, Jindong, Hughes, Michael, Yang, Guang-Zhong (2017) Three-dimensional robotic-assisted endomicroscopy with a force adaptive robotic arm. In: Robotics and Automation (ICRA), 2017 IEEE International Conference on, 29 May-3 June 2017, Singapore. (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) (KAR id:62854)

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: Conference or workshop item (Paper)
DOI/Identification number: 10.1109/ICRA.2017.7989276
Uncontrolled keywords: Probes; force; tools; robot sensing systems; manipulators
Subjects: Q Science
Divisions: Divisions > Division of Natural Sciences > Physics and Astronomy
Depositing User: Michael Hughes
Date Deposited: 16 Aug 2017 10:53 UTC
Last Modified: 21 Nov 2022 14:08 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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