Automatic surgical tools for penetrating flexible tissues

Abstract

Describes techniques developed at the authors' institute for controlling penetrating tools in non-rigid tissues. Two procedures are referenced to illustrate the approach. These procedures describe force characteristics and schemes for identifying critical states, and strategies for control. The authors consider: controlling tool penetration for microdrilling a stapedetomy; other procedures involving non-rigid tissues.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>