Title :
Miniature tri-axial force sensor for feedback in minimally invasive surgery
Author :
Baki, Péter ; Székely, Gábor ; Kósa, Gábor
Author_Institution :
Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland
Abstract :
A miniature tri-axial force sensor has been developed that complies with the requirements of integration into biomedical and robotic devices due to its size and accuracy. The sensor is a machined Titanium alloy body of the overall dimensions 8.6 × Ø3.4 mm with semi-conductor strain gauges embedded on it. The sensing beam´s size is 1 × 1 × 4.4 mm. We present here the design, calibration method and performance evaluation of our sensor. Properly calibrated, it can provide absolute resolution of 5 mN at 2 N full scale. The accuracy of the estimated angle of incidence is ±1°. The measured magnitude of the force is within the ±4% range of the actual one. At maximal load the accuracy of the shear angle is ±1°.
Keywords :
calibration; force feedback; force measurement; force sensors; medical robotics; microsensors; strain gauges; surgery; titanium alloys; angle of incidence estimation; biomedical devices; calibration method; force feedback; force measurement; machined titanium alloy body; medical robotics; miniature triaxial force sensor; minimally invasive surgery; robotic devices; semiconductor strain gauges; sensing beam size; sensor performance evaluation; Calibration; Force; Force measurement; Force sensors; Robot sensing systems; Sensitivity; Strain; Force Sensor; Medical Robotics; Minimally Invasive Surgery; Piezoresistive; Tri-Axial;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
Print_ISBN :
978-1-4577-1199-2
DOI :
10.1109/BioRob.2012.6290770
