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Automatic surgical tools for penetrating flexible tissues

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5 Author(s)
P. N. Brett ; Adv. Manuf. & Autom. Res. Centre, Bristol Univ., UK ; C. A. Fraser ; M. Hennigan ; M. V. Griffiths
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Describes techniques developed at the authors' institute for controlling penetrating tools in non-rigid tissues. Two procedures are referenced to illustrate the approach. These procedures describe force characteristics and schemes for identifying critical states, and strategies for control. The authors consider: controlling tool penetration for microdrilling a stapedetomy; other procedures involving non-rigid tissues

Published in:

IEEE Engineering in Medicine and Biology Magazine  (Volume:14 ,  Issue: 3 )