A Novel Three-axis Capacitive Force Sensor for Robot-assisted Surgery

被引:0
|
作者
Lo, Yu-Jan [1 ]
机构
[1] Ind Technol Res Inst, Ctr Measurement Stand, Hsinchu, Taiwan
来源
2023 5TH INTERNATIONAL CONFERENCE ON CONTROL AND ROBOTICS, ICCR | 2023年
关键词
Capacitive Force Sensing; Snake Robot; Minimally Invasive Surgery;
D O I
10.1109/ICCR60000.2023.10444861
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Robot-assisted surgery is a significant advancement in contemporary medical applications, with force sensors playing a crucial role for this field. A snake robot with integrated force sensors can measure the force exerted on human tissues during surgery in human organs (bronchi, small intestine, etc.). In this study, a new type of capacitive force sensor was designed, which consists of two elastic parts and two rigid parts, and can achieve three-axis force sensing in robot-assisted surgery. According to the current simulation results using finite element method, the force measurement range of the force sensor can reach 5 N, the resolution is 0.05 N, and this force measurement range is the force that human tissues may endure in general surgery.
引用
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页码:7 / 10
页数:4
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