Preliminary design and fabrication of smart handheld surgical tool with tactile feedback

Author

Choonghan Lee ; Dong-Hyuk Lee ; Canh Toan Nguyen ; Ui Kyeom Kim ; Dat Tien Nguyen ; Hyungpil Moon ; Jachoon Koo ; Jae-do Nam ; Hyouk Ryeol Choi

Author_Institution

Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea

fYear

2013

fDate

26-29 Aug. 2013

Firstpage

76

Lastpage

80

Abstract

In this paper, we present a smart handheld surgical tool with tactile feedback to help microsurgery. This device consists of force sensors attached to the tool tip and tactile displays on the position of the fingerhold. The sensor is capacitive one and measures not only the magnitude of force, but also the direction of force. The sensor can measure 9N of lateral forces along x-y-z direction. The tactile display is based on dielectric elastomer actuators and made up of three rigid coupling tactile display modules. The tactile displays provide stimuli of 170μm displacement and frequency of 10Hz at the surgeons fingertips. We fabricate the device and its performances are experimentally validated.

Keywords

biomedical equipment; electroactive polymer actuators; force feedback; force sensors; haptic interfaces; surgery; tactile sensors; capacitive sensor; dielectric elastomer actuators; fingerhold position; force direction; force magnitude; force sensors; lateral force measurement; microsurgery; rigid coupling tactile display modules; smart handheld surgical tool; smart handheld surgical tool design; smart handheld surgical tool fabrication; tactile feedback; tool tip; x-y-z direction; Actuators; Dielectrics; Electrodes; Force; Robot sensing systems; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2013 IEEE

Conference_Location

Gyeongju

ISSN

1944-9445

Type

conf

DOI

10.1109/ROMAN.2013.6628432

Filename

6628432