Miniaturised cutting tool with triaxial force sensing capabilities for minimally invasive surgery

Pietro Valdastri, Keith Houston, Arianna Menciassi, Paolo Dario, Arne Sieber, Masaru Yanagihara, Masakatsu Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    This paper reports a miniaturised triaxial force sensorized cutting tool for minimally invasive robotic surgery. This device exploits a silicon based MEMS triaxial force sensor that acts as the core component of the system. The outer diameter of the proposed device is less than 3 mm, thus enabling the insertion through a 9 French catheter guide. Characterization tests are performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced in order to have a triaxial force output in real time. Normal force resolution is 8.2 bits over a force range between 0 N and 30 N, while tangential resolution is 8.1 over a range of 6 N. Force signals with frequencies up to 250 Hz can successfully be detected, enabling haptic feedback and tissue mechanical properties investigation. Preliminary ex vivo muscular tissue cutting experiments are introduced and discussed in order to evaluate the device overall performances.

    Original languageEnglish
    Title of host publicationProceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006
    Volume2006
    Publication statusPublished - 2006
    Event8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 - Torino
    Duration: 2006 Jul 42006 Jul 7

    Other

    Other8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006
    CityTorino
    Period06/7/406/7/7

    ASJC Scopus subject areas

    • Engineering(all)

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  • Cite this

    Valdastri, P., Houston, K., Menciassi, A., Dario, P., Sieber, A., Yanagihara, M., & Fujie, M. (2006). Miniaturised cutting tool with triaxial force sensing capabilities for minimally invasive surgery. In Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 (Vol. 2006)