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. Index Terms-Clinical human computer interfaces, force sensor, microelectromechanical systems (MEMS)-based medical devices, robotics and robotic manipulators.
In REF , a miniaturized force sensor for hand-held microsurgical instruments or robotic manipulators is presented.
A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation
IEEE Trans. Robotics and Automation
IEEE Trans. Robotics and Automation
Computer Science Engineering