Show simple item record

contributor authorPietro Valdastri
contributor authorArne Sieber
contributor authorMasaru Yanagihara
contributor authorMasakatsu Fujie
contributor authorKeith Houston
contributor authorArianna Menciassi
contributor authorPaolo Dario
date accessioned2017-05-09T00:25:16Z
date available2017-05-09T00:25:16Z
date copyrightSeptember, 2007
date issued2007
identifier issn1932-6181
identifier otherJMDOA4-27985#206_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/136574
description abstractThis paper reports a miniaturized triaxial force sensorized cutting tool for minimally invasive robotic surgery. This device exploits a silicon-based microelectromechanical system triaxial force sensor that acts as the core component of the system. The outer diameter of the proposed device is less than 3mm, thus enabling the insertion through a 9 French catheter guide. Characterization tests are performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced in order to have a triaxial force output in real time. Normal force resolution is 8.2bits over a force range between 0N and 30N, while tangential resolution is 7 bits over a range of 5N. Force signals with frequencies up to 250Hz can successfully be detected, enabling haptic feedback and tissue mechanical properties investigation. Preliminary ex vivo muscular tissue cutting experiments are introduced and discussed in order to evaluate the device overall performances.
publisherThe American Society of Mechanical Engineers (ASME)
titleMiniaturized Cutting Tool With Triaxial Force Sensing Capabilities for Minimally Invasive Surgery
typeJournal Paper
journal volume1
journal issue3
journal titleJournal of Medical Devices
identifier doi10.1115/1.2778700
journal fristpage206
journal lastpage211
identifier eissn1932-619X
keywordsForce
keywordsSensors
keywordsCutting tools
keywordsCutting
keywordsSurgery
keywordsCalibration
keywordsMuscle
keywordsSignals
keywordsDesign
keywordsManufacturing
keywordsBiological tissues
keywordsSilicon AND Catheters
treeJournal of Medical Devices:;2007:;volume( 001 ):;issue: 003
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record