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 journalArticlepeer-review

    83 Citations (Scopus)


    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
    Issue number11
    Publication statusPublished - 2006 Nov


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

    ASJC Scopus subject areas

    • Biomedical Engineering


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