Determination of the material properties of soft tissue is a growing area of interest that aids in the development of new surgical tools and surgical simulators. This study first aims to develop a robot-operated tissue testing system for determination of tissue cutting forces. Second, this system was used to ascertain the cutting properties of the hard and soft palate mucosa and soft palate musculature for the purpose of developing a robotic instrument for cleft palate surgery and a cleft-specific surgical simulator. The palate tissue was cut with a 15 blade mounted to the robot with varying angles (30°, 60°, 90°) and speeds (1.5, 2.5, 3.5 cm/s) of cutting to imitate typical operative tasks. The cutting force range for hard palate mucosa, soft palate mucosa and soft palate muscle were 0.98–3.30, 0.34–1.74 and 0.71–2.71 N, respectively. The break-in force of the cut (i.e. force required for the blade to penetrate the tissue) is significantly impacted by the angle of the blade relative to the tissue rather than the cutting speed. Furthermore, the total surface area of the tissue in contact with the blade during the cut has a significant impact on the total force expended on the tissue.

确定软组织的材料特性是一个日益受到关注的领域，有助于开发新的手术工具和手术模拟器。这项研究首先旨在开发一种用于确定组织切割力的机器人操作的组织测试系统。其次，该系统用于确定硬pa和软pa黏膜和软pa肌肉组织的切割特性，目的是开发一种用于left裂手术的机器人器械和针对特定left裂的手术模拟器。用安装在机器人上的15个刀片以不同角度（30°，60°，90°）和切割速度（1.5、2.5、3.5 cm / s）切割pa组织，以模仿典型的手术任务。硬pa黏膜，软pa黏膜和软pa肌肉的切削力范围分别为0.98–3.30、0.34–1.74和0.71–2.71N。切口的刺入力（即，刀片穿透组织所需的力）受刀片相对于组织的角度而不是切割速度的影响很大。此外，在切割期间与刀片接触的组织的总表面积对在组织上消耗的总力具有显着影响。