A Robust Uniaxial Force Sensor for Minimally Invasive Surgery

被引：88

作者：

Yip, Michael C. ^{[1
]}

Yuen, Shelten G. ^{[2
]}

Howe, Robert D. ^{[2
]}

机构：

[1] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC V6T 1Z4, Canada

[2] Harvard Univ, Harvard Sch Engn & Appl Sci, Cambridge, MA 02138 USA

来源：

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING | 2010年 / 57卷 / 05期

关键词：

Beating heart surgery; force feedback; minimally invasive surgery (MIS); mitral valve annuloplasty; optical force sensor; FEEDBACK;

D O I：

10.1109/TBME.2009.2039570

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper presents a novel miniature uniaxial force sensor for use within a beating heart during mitral valve annuloplasty. The sensor measures 5.5 mm in diameter and 12 mm in length and provides a hollow core to pass instrumentation. A soft elastomer flexure design maintains a waterproof seal. Fiber optic transduction eliminates electrical circuitry within the heart, and acetal components minimize ultrasound-imaging artifacts. Calibration uses a nonlinear viscoelastic method, and in vitro tests demonstrate a 0-4-N force range with rms errors of 0.13 N (< 3.2%). In vivo tests provide the first endocardial measurements of tissue-minimally invasive surgery instrument interaction forces in a beating heart.

引用

页码：1008 / 1011

页数：4

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