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

doi:10.1109/TBME.2006.883618

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

83 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 language	English
Pages (from-to)	2397-2400
Number of pages	4
Journal	IEEE Transactions on Biomedical Engineering
Volume	53
Issue number	11
DOIs	https://doi.org/10.1109/TBME.2006.883618
Publication status	Published - 2006 Nov

Keywords

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

ASJC Scopus subject areas

Biomedical Engineering

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10.1109/TBME.2006.883618

Cite this

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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.",

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AU - Valdastri, Pietro

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AU - Menciassi, Arianna

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AU - Stefanini, Cesare

AU - Fujie, Masakatsu

AU - Dario, Paolo

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AB - 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.

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

Abstract

Keywords

ASJC Scopus subject areas

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