A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation

被引：122

作者：

Berkelman, PJ ^{[1
]}

Whitcomb, LL

Taylor, RH

Jensen, P

机构：

[1] TIMC, IMAG Lab, Inst Albert Bonniot, F-38706 La Tronche, France

[2] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

[3] Johns Hopkins Univ, Engn Res Ctr Comp Integrated Surg Syst & Technol, Baltimore, MD 21218 USA

[4] Adv Imaging Technol Inc, Preston, WA 98050 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 05期

关键词：

clinical human computer interfaces; force sensor; micro-electromechanical systems (MEMS)-based medical devices; robotics and robotic manipulators;

D O I：

10.1109/TRA.2003.817526

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 torn from the sensor body, and sub-mN three-axis force-sensing resolution.

引用

页码：917 / 922

页数：6

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