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

被引：266

作者：

Peirs, J

Clijnen, J

Reynaerts, D

Van Brussel, H

Herijgers, P

Corteville, B

Boone, S

机构：

[1] Katholieke Univ Leuven, Dept Mech Engn, B-3001 Louvain, Belgium

[2] Katholieke Univ Leuven, Univ Hosp, Sect Cardiac Surg, B-3000 Louvain, Belgium

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2004年 / 115卷 / 2-3期

关键词：

force sensor; optical sensor; minimally invasive surgery; robotic surgery; force feedback;

D O I：

10.1016/j.sna.2004.04.057

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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. (C) 2004 Elsevier B.V. All rights reserved.

引用

页码：447 / 455

页数：9