Surgical robotic arm control for tissue ablation

Ibrahim M. Mehedi*, K. Prahlad Rao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

In the technology driven era, robot assisted surgery is gradually emerging as a revolutionized surgical procedure over traditional laparoscopic method. Despite the concerns about robotic surgery for minimally invasive surgical procedures, robotized surgical arms have been used in many hospitals. Certain surgical procedures require removal of a segment of an organ or body part like excision biopsy, linear thin layer of soft tissue, triangular mass, and tangential excision in burn management, where shaving-off at an angle of the tissue layer to be removed. For such minimally invasive procedures, we have designed a surgical arm governed by a rotary flexible joint. The surgical arm has a medical grade scalpel in its one end and the other end is connected to a D.C. servo motor. The motion of the surgical arm is controlled by the newly designed non-integer order controller. We have experimentally demonstrated the functioning of the surgical arm by ablating the tissue in-vitro. Our surgical robotic arm is cost effective, high precision and free from potential human errors.

Original languageEnglish
Pages (from-to)881-887
Number of pages7
JournalJournal of Robotic Surgery
Volume14
Issue number6
DOIs
Publication statusPublished - Dec 2020
Externally publishedYes

Keywords

  • Flexible rotary joint
  • Non-integer order controller
  • Scalpel
  • Surgical robotic arm
  • Tissue ablation

Fingerprint

Dive into the research topics of 'Surgical robotic arm control for tissue ablation'. Together they form a unique fingerprint.

Cite this