Miniature tri-axial force sensor for feedback in minimally invasive surgery

Author

Baki, Péter ; Székely, Gábor ; Kósa, Gábor

Author_Institution

Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland

fYear

2012

fDate

24-27 June 2012

Firstpage

805

Lastpage

810

Abstract

A miniature tri-axial force sensor has been developed that complies with the requirements of integration into biomedical and robotic devices due to its size and accuracy. The sensor is a machined Titanium alloy body of the overall dimensions 8.6 × Ø3.4 mm with semi-conductor strain gauges embedded on it. The sensing beam´s size is 1 × 1 × 4.4 mm. We present here the design, calibration method and performance evaluation of our sensor. Properly calibrated, it can provide absolute resolution of 5 mN at 2 N full scale. The accuracy of the estimated angle of incidence is ±1°. The measured magnitude of the force is within the ±4% range of the actual one. At maximal load the accuracy of the shear angle is ±1°.

Keywords

calibration; force feedback; force measurement; force sensors; medical robotics; microsensors; strain gauges; surgery; titanium alloys; angle of incidence estimation; biomedical devices; calibration method; force feedback; force measurement; machined titanium alloy body; medical robotics; miniature triaxial force sensor; minimally invasive surgery; robotic devices; semiconductor strain gauges; sensing beam size; sensor performance evaluation; Calibration; Force; Force measurement; Force sensors; Robot sensing systems; Sensitivity; Strain; Force Sensor; Medical Robotics; Minimally Invasive Surgery; Piezoresistive; Tri-Axial;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on

Conference_Location

Rome

ISSN

2155-1774

Print_ISBN

978-1-4577-1199-2

Type

conf

DOI

10.1109/BioRob.2012.6290770

Filename

6290770