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Title: Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy
Authors: Sutar M.K.
Pathak, Pushparaj Mani
Published in: Journal of the Brazilian Society of Mechanical Sciences and Engineering
Abstract: Traditional endoscopy involves limited surgery called biopsy and abdominal cavity exploration. Limitations like reduced dexterity and limited visualization, because of reduced access to the surgical field, limit the surgeon's perception and increases his strain. This results in error while performing surgery. To reduce this deficiency, the involvement of robotic assistance to surgery is one of the greatest milestones crossed so far in the history of medical science. Many researches have been carried out in this particular domain so far, and the research is still in its infancy stage. Several attempts have been made to diminish the limitations in conventional endoscopes used for biopsy, and new design and control strategies have been proposed. This paper presents a hybrid force/trajectory control strategy of such hyper-redundant robot when the robot interacts with the tissues. The force control is of interest here to avoid the damage of healthy tissues when robot interacts with them. To illustrate the methodology, an example of three-link redundant robot has been considered. © 2019, The Brazilian Society of Mechanical Sciences and Engineering.
Citation: Journal of the Brazilian Society of Mechanical Sciences and Engineering, 41(10)
Issue Date: 2019
Publisher: Springer Verlag
Keywords: Hybrid trajectory/force control strategy
In vivo biopsy
Robotic manipulator
ISSN: 16785878
Author Scopus IDs: 36107408200
Author Affiliations: Sutar, M.K., Department of Mechanical Engineering, Veer Surendra Sai University of Technology, Burla, Odisha, India
Pathak, P.M., Department of Mechanical and Industrial Engineering, Indian Institute of Technology Roorkee, Roorkee, India
Funding Details: The authors pay their sincere gratitude to the Department of science and Technology of Government of India to sponsor this research (Scheme Grant Code SR/S3/MERC/048/2009). Department of Science and Technology, Government of Kerala: SR/S3/MERC/048/2009
Corresponding Author: Sutar, M.K.; Department of Mechanical Engineering, India; email:
Appears in Collections:Journal Publications [ME]

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