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 language | English |
|---|---|
| Title of host publication | Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 |
| Volume | 2006 |
| Publication status | Published - 2006 |
| Event | 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 - Torino Duration: 2006 Jul 4 → 2006 Jul 7 |
Other
| Other | 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006 |
|---|---|
| City | Torino |
| Period | 06/7/4 → 06/7/7 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Miniaturised cutting tool with triaxial force sensing capabilities for minimally invasive surgery. / Valdastri, Pietro; Houston, Keith; Menciassi, Arianna; Dario, Paolo; Sieber, Arne; Yanagihara, Masaru; Fujie, Masakatsu.
Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006. Vol. 2006 2006.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Miniaturised cutting tool with triaxial force sensing capabilities for minimally invasive surgery
AU - Valdastri, Pietro
AU - Houston, Keith
AU - Menciassi, Arianna
AU - Dario, Paolo
AU - Sieber, Arne
AU - Yanagihara, Masaru
AU - Fujie, Masakatsu
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33845775356&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845775356&partnerID=8YFLogxK
M3 - Conference contribution
SN - 0791837793
SN - 9780791837795
VL - 2006
BT - Proceedings of 8th Biennial ASME Conference on Engineering Systems Design and Analysis, ESDA2006
ER -