A3.3 - A Miniaturised Piezoresistive Multi-Component Force Sensor for Minimally Invasive Surgery

SENSOR+TEST Conferences 2009
2009-05-26 - 2009-05-28
Congress Center Nürnberg
Proceedings SENSOR 2009, Volume I
A3 - Mechanical Sensors I
J. Rausch, R. Werthschuetzky - Technische Universität Darmstadt, Darmstadt, Germany
83 - 88


Conventional tools used in minimally invasive abdominal surgery (MIS) suffer from workspace restrictions and loss of haptic perception of the manipulated tissue. Operations are more complicated, expert surgeons are needed and longer operation time is the consequence. On this, a novel hand-held instrument with a force feedback system for gentle manipulation of soft tissue is being developed. Driven by integrated piezoelectric actuators an operation platform with four additional degrees of freedom carries manipulators and positions them inside the surgical area. To assist the surgeon during the operation the relating forces between soft tissue and tool are measured with a force sensor. Typically the force vector consists of three force components Fi, each one with an absolute value of |Fi| <= 5 N. An active control element is feeding back the haptic information to the surgeons’ hand.
In this paper we report of the progress of a miniaturised multi-component force sensor. It will be integrated in the tool tip of the operating platform and detect at minimum three force components (shear and normal forces). Following the requirements of humans’ haptic perception the sensor detects both static and dynamic forces up to 1000 Hz. According to forces arising in typical tasks especially during liver surgery forces up to 5 N can be measured at the tool tip.