Abstract
Medical robots especially allow to enhance accuracy and reproducibility of the surgical gesture, while the surgeon keeps the control and decision actions. In reconstructive surgery, it has been shown that the robot could improve significantly unskilled surgeons who don’t achieve regularly these operations: the tool used to harvest skin samples, called dermatome, is mounted at the tip of a dedicated robot, which precisely controls the force pressure on the tissue and the harvesting velocity. In this paper, we describe the robotic system which has been deigned and which is currently in a validation process. Emphasis is laid on a skin model which is used to optimize the control law performance. Safety is also discussed and finally in vivo experimental results are reported
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© 2003 Springer-Verlag Berlin Heidelberg
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Duchemin, G., Dombre, E., Pierrot, F., Poignet, P. (2003). Robotized Skin Harvesting. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_36
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DOI: https://doi.org/10.1007/3-540-36268-1_36
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