Abstract
This research presents the comprehensive design, development, and testing of an innovative robotic mechanism tailored for the collection of soft tissue samples intended for disease detection applications. The proposed system integrates advanced technologies, such as hydrogels, chambers, and sensors, to enable meticulous and minimally invasive tissue manipulation while concurrently mitigating tissue damage. This paper showcases simulated tissue tests and validates the mechanism on chicken liver tissue. The integration of air sensors, strain gauge sensors, and chambers furnishes real-time feedback on applied forces, tissue interaction dynamics, and alterations in tissue dimensions. The presented work lays the foundation for further advancements in the realm of minimally invasive tissue collection, crucial for precise disease detection.
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