Miniature Tri-Axial Force Sensor for Feedback in Minimally Invasive Surgery

被引：0

作者：

Baki, Peter ^{[1
]}

Szekely, Gabor ^{[1
]}

Kosa, Gabor ^{[2
]}

机构：

[1] ETH, Dept Informat Technol & Elect Engn, Comp Vis Lab, Zurich, Switzerland

[2] Tel Aviv Univ, Sch Mech Engn, Fac Engn, Robots & BioMed MicroSyst RBM2S, Tel Aviv, Israel

来源：

2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) | 2012年

基金：

瑞士国家科学基金会;

关键词：

Force Sensor; Piezoresistive; Tri-Axial; Medical Robotics; Minimally Invasive Surgery;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

A miniature tri-axial force sensor has been developed that complies with the requirements of integration into biomedical and robotic devices due to its size and accuracy. The sensor is a machined Titanium alloy body of the overall dimensions 8.6 x empty set3.4 mm with semi-conductor strain gauges embedded on it. The sensing beam's size is 1 x 1 x 4.4 mm. We present here the design, calibration method and performance evaluation of our sensor. Properly calibrated, it can provide absolute resolution of 5 mN at 2 N full scale. The accuracy of the estimated angle of incidence is +/- 1 degrees. The measured magnitude of the force is within the +/- 4 % range of the actual one. At maximal load the accuracy of the shear angle is +/- 1 degrees.

引用

页码：805 / 810

页数：6

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