A Cable Actuated Flexible Digit with Tactile Feedback for use in Clinical Applications

Abstract

Much development has been initiated in the past few years with the improvement in micro-technologies and sensing techniques. These methods have been applied to a cable actuated flexible digit which has been designed in an effort to further develop upon the existing need for sensory feedback in surgical procedures. The shape of the device is controlled by strain gauge sensors mounted along an internal stiffening member. The system controller has been developed using Robust H-infinity synthesis pertaining to typical frequencies during surgical procedures. Neural networks that are able to predict load positions along the digit have been constructed for both the non-actuated and actuated systems, thus providing the ability for the surgeon to detect tissue properties in Minimally Invasive Surgical procedures. Both systems proved extremely accurate in their predictions at low frequencies, suggesting that the prediction efficiency might be comparable for other surface parameters and at higher frequencies in other non-medical applications.