Modular integration of a 3 DoF F/T sensor for robotic manipulators

Secco, Emanuele Lindo and Noh, Yohan and Sareh, S and Wurdemann, Helge A and Liu, Hongbin and Althoefer, Kaspar (2014) Modular integration of a 3 DoF F/T sensor for robotic manipulators. In: 4th Joint Workshop on Computer/Robot Assisted Surgery, Italy.

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Abstract

Robot assisted surgery and minimally invasive robotic surgery inherently entail that the hands of the surgeon indirectly interact with the patient tissues and organs even if the operator is out of the affected body. Hence, transferring sensor information from the inside of the patient to the outside of the surgeon may certainly improve the perception of the robotic enduser. To this aim – within the EU framework of the STIFF-FLOP project (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations), we developed a novel design of miniaturized and magnetic resonance compatible sensors for force and torque real-time measurements in robotic surgery. The sensor design has a hollow shape, whose geometry allows its integration and embedding within snake-like surgical robots and modular devices. According to typical requirements and specifications of a surgical procedure, the sensor operates in a range of force and torque of 0-5 N and 0-5 N⋅cm, respectively. Due to a customized tool and calibration procedure, an error of less than 15% of sensor range can be obtained. This novel transducer may advance force and haptic feedback in robot assisted and minimally invasive surgeries.

Item Type: Conference or Workshop Item (Paper)
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Emanuele Secco
Date Deposited: 31 Jul 2017 10:19
Last Modified: 31 Jul 2017 10:19
URI: http://hira.hope.ac.uk/id/eprint/1185

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