Abstract
A video tactile sensor is considered as a working instrument of medical robot. A problem of the contact of the silicon head of the tactile sensor with a multilayer soft tissue is considered. For contact with the two-layer tissue analytical dependencies of the load and the radius of contact on time are given for small values of indentation speed. The problem is solved numerically for contact of the head with a three-layer tissue, which simulates skin, muscle and bone. The results of the modelling are used to estimate the contact and internal stresses during indentation process of the working element of the medical robot into soft tissue. Aimed to prevent critical stresses and strains, using the data from video tactile sensor and force sensors of robot allow controlling an acting of the robot working element upon layered soft tissue.
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Acknowledgments
This work was partially supported by the Russian. Foundation for Basic Research, projects NN 14-08-92010, 16-58-52033.
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Yakovenko, A., Goryacheva, I., Dosaev, M. (2017). Estimating Characteristics of a Contact Between Sensing Element of Medical Robot and Soft Tissue. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_57
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DOI: https://doi.org/10.1007/978-3-319-44156-6_57
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