Design of an Optical Force Sensor for Force Feedback during Minimally Invasive Robotic Surgery

摘要

Summary: A 5 mm diameter tri-axial force sensor has been developed for minimally invasive robotic surgery. To define the required force range and resolution, a needle driver has been equipped with strain gauges, able to measure two force components perpendicular to the instrument shaft. In vivo-tests with different types of needles and tissue show that the required force range and resolution are respectively 2.5 N and 0.01 N. The new sensor is based on a flexible titanium structure of which the deformations are measured through reflective measurements with 3 optical fibres. It has a range of 2.5 N in axial direction and 1.7 N in radial direction.