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

页码：7 / 10

页数：4