Actively Compliant Parallel End-Effector Mechanism for Medical Interventions

Many robot assisted medical procedures involve direct contact of medical tools with a patient’s body, posing a challenge in terms of accuracy and safety. In addition, the unpredictability of soft tissue movement and deformation during medical interventions makes execution of procedures through robotic systems especially challenging. Energid Technologies proposes a novel, actively compliant parallel end effector suitable for imaging and other medical interventions. The system consists of a unique, back drivable parallel system that, when coupled with Energid’s Actin robot control software and an innovative sensing system, will provide unprecedented accuracy and safety. With the proposed unique approach, the parallel mechanism will provide active compliance, active stiffness, real-time force feedback, and full spatial motion, making it unparalleled for compliance-based medical diagnosis and surgical tasks.