A measurement of biomechanical properties of soft biological tissues

摘要

We present a method to determine the mechanical behaviour of soft biological tissues. This work presents ex vivo force response between laparoscopic tool and the pig liver. We used measurement system which is based on Staubli robot RX60 and a force sensor mounted at its end. Results of measurement will be used in surgery telerobotic system to create the force feedback to secure additionally the surgery.