A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation†

Peixuan Shi; Bin Cheng; Ye Zong; Yi Gong; Hao Yan; Yida Hu; Huaqing Zhang; Shaolong Kuang; Wenyong Liu; Lixin Wang; Baiquan Su

doi:10.1109/ICCA.2018.8444361

A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation^†

Peixuan Shi
, Bin Cheng
, Ye Zong
, Yi Gong
, Hao Yan
, Yida Hu
, Huaqing Zhang
, Shaolong Kuang
, Wenyong Liu
, Lixin Wang
, Baiquan Su^*

^*Corresponding author for this work

School of Biological Science and Medical Engineering

Beijing University of Posts and Telecommunications
Capital Medical University
Brigham and Women’s Hospital
No.703 Research Institute of CSSC
Soochow University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

Soft tissue cutting is a fundamental operation in clinical treatments. Autonomous soft tissue cutting using scalpel, one of soft tissue cutting methods, is an emerging field. However, soft tissue displacement during cutting by robotic system is a bottleneck. In this paper, a robotic system is proposed with sucker that can fix soft tissue before and during cutting. The system consists of scalpel fixation and three degrees of freedom (DoF) motion structure and surrounding suckers at the bottom. Cutting curve is abstracted from the cut soft tissue imaged by X-ray. Then the curve is fitted using 10-order B-spline function. The experimental results provide a pilot study towards high precision soft tissue cutting robot.

Original language	English
Title of host publication	2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
Publisher	IEEE Computer Society
Pages	1162-1167
Number of pages	6
ISBN (Print)	9781538660898
DOIs	https://doi.org/10.1109/ICCA.2018.8444361
State	Published - 21 Aug 2018
Event	14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States Duration: 12 Jun 2018 → 15 Jun 2018

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2018-June
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	14th IEEE International Conference on Control and Automation, ICCA 2018
Country/Territory	United States
City	Anchorage
Period	12/06/18 → 15/06/18

Access to Document

10.1109/ICCA.2018.8444361

Cite this

Shi, P., Cheng, B., Zong, Y., Gong, Y., Yan, H., Hu, Y., Zhang, H., Kuang, S., Liu, W., Wang, L., & Su, B. (2018). A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation^† In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 (pp. 1162-1167). Article 8444361 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June). IEEE Computer Society. https://doi.org/10.1109/ICCA.2018.8444361

@inproceedings{d773996e2cbb4ae49fc23a8e86e35962,

title = "A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation† ",

abstract = "Soft tissue cutting is a fundamental operation in clinical treatments. Autonomous soft tissue cutting using scalpel, one of soft tissue cutting methods, is an emerging field. However, soft tissue displacement during cutting by robotic system is a bottleneck. In this paper, a robotic system is proposed with sucker that can fix soft tissue before and during cutting. The system consists of scalpel fixation and three degrees of freedom (DoF) motion structure and surrounding suckers at the bottom. Cutting curve is abstracted from the cut soft tissue imaged by X-ray. Then the curve is fitted using 10-order B-spline function. The experimental results provide a pilot study towards high precision soft tissue cutting robot.",

author = "Peixuan Shi and Bin Cheng and Ye Zong and Yi Gong and Hao Yan and Yida Hu and Huaqing Zhang and Shaolong Kuang and Wenyong Liu and Lixin Wang and Baiquan Su",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 14th IEEE International Conference on Control and Automation, ICCA 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

year = "2018",

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doi = "10.1109/ICCA.2018.8444361",

language = "英语",

isbn = "9781538660898",

series = "IEEE International Conference on Control and Automation, ICCA",

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Shi, P, Cheng, B, Zong, Y, Gong, Y, Yan, H, Hu, Y, Zhang, H, Kuang, S, Liu, W, Wang, L & Su, B 2018, A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation^† in 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018., 8444361, IEEE International Conference on Control and Automation, ICCA, vol. 2018-June, IEEE Computer Society, pp. 1162-1167, 14th IEEE International Conference on Control and Automation, ICCA 2018, Anchorage, United States, 12/06/18. https://doi.org/10.1109/ICCA.2018.8444361

A Soft Tissue Scalpel Cutting Robotic System with Sucker Fixation^† . / Shi, Peixuan; Cheng, Bin; Zong, Ye et al.
2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society, 2018. p. 1162-1167 8444361 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Soft tissue cutting is a fundamental operation in clinical treatments. Autonomous soft tissue cutting using scalpel, one of soft tissue cutting methods, is an emerging field. However, soft tissue displacement during cutting by robotic system is a bottleneck. In this paper, a robotic system is proposed with sucker that can fix soft tissue before and during cutting. The system consists of scalpel fixation and three degrees of freedom (DoF) motion structure and surrounding suckers at the bottom. Cutting curve is abstracted from the cut soft tissue imaged by X-ray. Then the curve is fitted using 10-order B-spline function. The experimental results provide a pilot study towards high precision soft tissue cutting robot.

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