Abstract
A probe for cutting soft gum tissue combines a force sensor and a diode laser. In such operations, contact between the tip of the optical waveguide and the soft gum tissue must first be determined. That permits specification of the cutting trajectory in the robot control system. A probe with a diode laser and single-component force sensor is proposed. The errors regarding contact of the laser’s optical waveguide with the soft gum tissue are analyzed.
Similar content being viewed by others
REFERENCES
Lanfranco, A.R., Castellanos, A.E., Desai, J.P., and Meyers, W.C., Robotic surgery, Ann. Surg., 2004, vol. 239, pp. 14–21.
Klimov, D.D., Vorotnikov, A.A., Solov’ev, M.A., et al., Medical robotics for neurosurgery, Vestn. Mosk. Gos. Tekhnol. Univ., Stankin, 2019, no. 1, pp. 32–37.
Satwinder Singh, Jo L K Cheung, Biji Sreedhar, et al., A novel robotic platform for single-port abdominal surgery, IOP Conf. Ser.: Mater. Sci. Eng., 2018, vol. 32, art. ID 012008.
Buinov, M.A., Vorotnikov, A.A., Klimov, D.D., et al., Robotic technologies in medicine and bioprinting: the state of the problem and modern trends, Vestn. Mosk. Gos. Tekhnol. Univ., Stankin, 2017, no. 1, pp. 127–131.
Pradeep, K.Y., Prashansa, D., Kalaivani, V., and Rajapandian, K., Future advances in robotic dentistry, J. Dental Health, Oral Disord. Ther., 2017, vol. 7, no. 3, pp. 1–3.
Vorotnikov, A.A., Klimov, D.D., Romash, E.V., et al, Cutting velocity accuracy as a criterion for comparing robot trajectories and manual movements for medical industry, Mech. Ind., 2017, no. 18.
Vorotnikov, A.A., Klimov, D.D., Melnichenko, E.A., and Poduraev, Yu.V., Criteria for comparison of robot movement trajectories and manual movements of a doctor for performing maxillofacial surgeries, Int. J. Mech. Eng. Rob. Res., 2018, vol. 7, no. 4, pp. 361–366.
Li, L., Yu, B., Chen, Y., et al., Development of an inexpensive tri-axial force sensor for minimally invasive surgery, Proc. 2017 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2017), Vancouver, 2017, pp. 906–913.
Grechishnikov, V.A., Romanov, V.B., and Yunusov, V.V., Cutting tools with insert for processing of step holes, Vestn. Mosk. Gos. Tekhnol. Univ., Stankin, 2014, no. 1 (28), pp. 24–29.
Goidin, O.P., Kuraev, E.V., and Poduraev, Yu.V., Robotic complex with force-torque sensing for demounting operations, Vestn. Mosk. Gos. Tekhnol. Univ., Stankin, 2015, no. 1 (32), pp. 78–82.
Gorelov, V.A., Zhuplov, M.V., Fadin, D.M., and Yakovlev, M.G., Cutting forces appearing during grinding of VT3-1 titanium alloy, Vestn. Mosk. Gos. Tekhnol. Univ., Stankin, 2012, no. 1 (18), pp. 73–77.
ACKNOWLEDGMENTS
The research was conducted on equipment in the Collective-Use Center at Stankin Moscow State Technological University.
Funding
This work was supported by the Russian Ministry of Science and Education, project 9.3408.2017/4.6.
Author information
Authors and Affiliations
Corresponding authors
Additional information
Translated by B. Gilbert
About this article
Cite this article
Meleshnikov, A.M., Vorotnikov, A.A., Klimov, D.D. et al. Prototype Probe Determining Waveguide–Gum Contact for a Robot Surgical System. Russ. Engin. Res. 40, 86–88 (2020). https://doi.org/10.3103/S1068798X20010141
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.3103/S1068798X20010141