A micro optical force sensor for force feedback during minimally invasive robotic surgery

A 5 mm diameter tri-axial force sensor has been developed for minimally invasive robotic surgery. To define the required force range and resolution, a needle driver has been equipped with strain gauges. In vivo tests with different types of needles and tissue show that the required force range and r...

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Bibliographic Details
Published in:Sensors and actuators. A. Physical. 2004-09, Vol.115 (2), p.447-455
Main Authors: Peirs, Jan, Clijnen, Joeri, Reynaerts, Dominiek, Brussel, Hendrik Van, Herijgers, Paul, Corteville, Brecht, Boone, Sarah
Format: Article
Language:English
Subjects:
Force feedback
Force sensor
Minimally invasive surgery
Optical sensor
Robotic surgery
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Summary:A 5 mm diameter tri-axial force sensor has been developed for minimally invasive robotic surgery. To define the required force range and resolution, a needle driver has been equipped with strain gauges. In vivo tests with different types of needles and tissue show that the required force range and resolution are, respectively, 2.5 N and 0.01 N. The new sensor is based on a flexible titanium structure of which the deformations are measured through reflective measurements with three optical fibres. It has a range of 2.5 N in axial direction and 1.7 N in radial direction.
ISSN:0924-4247
1873-3069
DOI:10.1016/j.sna.2004.04.057