Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

被引：23
作者：
Li Kun [1 ]
Pan Bo [1 ]
Gao Wen-peng [2 ]
Feng Hai-bo [1 ]
Fu Yi-li [1 ]
Wang Shu-guo [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Peoples R China
[2] Harbin Inst Technol, Sch Life Sci & Technol, Harbin 150080, Peoples R China
来源：
JOURNAL OF CENTRAL SOUTH UNIVERSITY | 2015年 / 22卷 / 12期
基金：
国家高技术研究发展计划(863计划); 中国国家自然科学基金;
关键词：
force feedback; force/torque sensor; Stewart platform; optimal design; robot-assisted minimally invasive surgery; SYSTEMS;
D O I：
10.1007/s11771-015-3007-7
中图分类号：
TF [冶金工业];
学科分类号：
0806 ;
摘要：
In order to restore force sensation to robot-assisted minimally invasive surgery (RMIS), design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented. Based on the resistive sensing method, a flexural-hinged Stewart platform is designed as the flexible structure, and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads. The accuracy of this method is preliminarily discussed by finite element methods (FEMs). The sensor prototype is fabricated with the development of the electronic system. Calibration and dynamic loading tests for this sensor prototype are carried out. The working ranges of this sensor prototype are 30 N and 300 N center dot mm, and resolutions are 0.08 N in radial directions, 0.25 N in axial direction, and 2.4 N center dot mm in rotational directions. It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult. The sensor is compatible with surgical instruments for force feedback in RMIS.
引用
收藏
页码：4566 / 4577
页数：12
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