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RESEARCH PAPERS

Miniaturized Cutting Tool With Triaxial Force Sensing Capabilities for Minimally Invasive Surgery

[+] Author and Article Information
Pietro Valdastri

 CRIM Lab, Scuola Superiore Sant’Anna, 56100, Pisa, Italypietro@sssup.it

Keith Houston, Arianna Menciassi, Paolo Dario

 CRIM Lab, Scuola Superiore Sant’Anna, 56100, Pisa, Italy

Arne Sieber

 Profactor Research and Solutions GmbH, A-2444, Seibersdorf, Austria

Masaru Yanagihara, Masakatsu Fujie

 Waseda University, 169–8555, Tokyo, Japan

J. Med. Devices 1(3), 206-211 (Aug 08, 2007) (6 pages) doi:10.1115/1.2778700 History: Received July 19, 2006; Revised August 08, 2007

This 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.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 6

Sensor response to normal loading

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Figure 7

Sensor response to tangential loading along R3→R1 direction

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Figure 8

Schematic view of the experimental setup for muscular tissue cutting

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Figure 9

Sensor output during cutting test

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Figure 5

The fabricated device

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Figure 4

(a) Focused ion beam image of the triaxial force sensor and (b) scanning electron microscope image of one piezoresistor and its two connection pads

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Figure 3

(a) Quarter solid model and (b) boundary plot of total displacement of the device for a 1N normal loading

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Figure 2

Simulated fractional change in resistance for a 1N normal loading with different D values

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Figure 1

Cross section of the device

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