Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool

Pietro Valdastri, Kanako Harada, Arianna Menciassi, Lucia Beccai, Cesare Stefanini, Masakatsu Fujie, Paolo Dario

    Research output: Contribution to journalArticle

    66 Citations (Scopus)

    Abstract

    This paper reports preliminary results on design and fabrication of a cutting tool with an integrated triaxial force sensor to be applied in fetal surgery procedures. The outer diameter of the proposed device is 7.4 mm, but a scaled down design can be easily achieved. Linearity and hysteresis tests have been performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced and discussed. The typical working range for the conceived instrument is around 0.3 N, while 20 N and 1 N are, respectively, maximum normal and tangential forces for which the device robustness has been assessed.

    Original languageEnglish
    Pages (from-to)2397-2400
    Number of pages4
    JournalIEEE Transactions on Biomedical Engineering
    Volume53
    Issue number11
    DOIs
    Publication statusPublished - 2006 Nov

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    Linear transformations
    Sensors
    Cutting tools
    Surgery
    Hysteresis
    Fabrication

    Keywords

    • "Smart" surgical tool
    • Fetal surgery
    • Minimal invasive surgery
    • Triaxial force sensor

    ASJC Scopus subject areas

    • Biomedical Engineering

    Cite this

    Valdastri, P., Harada, K., Menciassi, A., Beccai, L., Stefanini, C., Fujie, M., & Dario, P. (2006). Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool. IEEE Transactions on Biomedical Engineering, 53(11), 2397-2400. https://doi.org/10.1109/TBME.2006.883618

    Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool. / Valdastri, Pietro; Harada, Kanako; Menciassi, Arianna; Beccai, Lucia; Stefanini, Cesare; Fujie, Masakatsu; Dario, Paolo.

    In: IEEE Transactions on Biomedical Engineering, Vol. 53, No. 11, 11.2006, p. 2397-2400.

    Research output: Contribution to journalArticle

    Valdastri, P, Harada, K, Menciassi, A, Beccai, L, Stefanini, C, Fujie, M & Dario, P 2006, 'Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool', IEEE Transactions on Biomedical Engineering, vol. 53, no. 11, pp. 2397-2400. https://doi.org/10.1109/TBME.2006.883618
    Valdastri, Pietro ; Harada, Kanako ; Menciassi, Arianna ; Beccai, Lucia ; Stefanini, Cesare ; Fujie, Masakatsu ; Dario, Paolo. / Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool. In: IEEE Transactions on Biomedical Engineering. 2006 ; Vol. 53, No. 11. pp. 2397-2400.
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