Title: A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy,
Abstract: This paper introduces a new surgical end-effector probe, which allows to
accurately apply a contact force on a tissue, while at the same time allowing
for high resolution and highly repeatable probe movement. These are achieved by
implementing a cable-driven parallel manipulator arrangement, which is deployed
at the distal-end of a robotic instrument. The combination of the offered
qualities can be advantageous in several ways, with possible applications
including: large area endomicroscopy and multi-spectral imaging, micro-surgery,
tissue palpation, safe energy-based and conventional tissue resection. To
demonstrate the concept and its adaptability, the probe is integrated with a
modified da Vinci robot instrument.