Title of article
A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation
Author/Authors
R.H.، Taylor, نويسنده , , P.J.، Berkelman, نويسنده , , L.L.، Whitcomb, نويسنده , , P.، Jensen, نويسنده ,
Issue Information
دوماهنامه با شماره پیاپی سال 2003
Pages
5
From page
917
To page
921
Abstract
This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 mm from the sensor body, and sub-mN three-axis force-sensing resolution.
Keywords
rectangular waveguide (RWG) , millimeter wave , waveguide transition , Laminated waveguide , low-temperature co-fired ceramic (LTCC)
Journal title
I E E E Transactions on Robotics and Automation
Serial Year
2003
Journal title
I E E E Transactions on Robotics and Automation
Record number
86827
Link To Document