Résumé
Special Issue on Medical Robotics This paper presents a novel and safe robotic system for skin harvesting, the first one in reconstructive surgery. It is intended to significantly improve the performance of surgeons who do not regularly perform this operation; the tool, called dermatome, is mounted at the tip of a dedicated robot that precisely controls the pressure on the skin and the harvesting velocity. In this paper, the harvesting task is analyzed and the safety constraints are summarized. Then, the mechanical structure and the functions of the control system are described. Finally, in vivo experimental results on pigs are reported and discussed.