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 , 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 over a force range between and , while tangential resolution is 7 bits over a range of . Force signals with frequencies up to 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.
Skip Nav Destination
Article navigation
September 2007
Research Papers
Miniaturized Cutting Tool With Triaxial Force Sensing Capabilities for Minimally Invasive Surgery
Keith Houston,
Keith Houston
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Search for other works by this author on:
Arianna Menciassi,
Arianna Menciassi
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Search for other works by this author on:
Paolo Dario,
Paolo Dario
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Search for other works by this author on:
Arne Sieber,
Arne Sieber
Profactor Research and Solutions GmbH
, A-2444, Seibersdorf, Austria
Search for other works by this author on:
Masaru Yanagihara,
Masaru Yanagihara
Waseda University
, 169–8555, Tokyo, Japan
Search for other works by this author on:
Masakatsu Fujie
Masakatsu Fujie
Waseda University
, 169–8555, Tokyo, Japan
Search for other works by this author on:
Pietro Valdastri
Keith Houston
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Arianna Menciassi
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Paolo Dario
CRIM Lab
, Scuola Superiore Sant’Anna, 56100, Pisa, Italy
Arne Sieber
Profactor Research and Solutions GmbH
, A-2444, Seibersdorf, Austria
Masaru Yanagihara
Waseda University
, 169–8555, Tokyo, Japan
Masakatsu Fujie
Waseda University
, 169–8555, Tokyo, JapanJ. Med. Devices. Sep 2007, 1(3): 206-211 (6 pages)
Published Online: August 8, 2007
Article history
Received:
July 19, 2006
Revised:
August 8, 2007
Citation
Valdastri, P., Houston, K., Menciassi, A., Dario, P., Sieber, A., Yanagihara, M., and Fujie, M. (August 8, 2007). "Miniaturized Cutting Tool With Triaxial Force Sensing Capabilities for Minimally Invasive Surgery." ASME. J. Med. Devices. September 2007; 1(3): 206–211. https://doi.org/10.1115/1.2778700
Download citation file:
Get Email Alerts
Cited By
A Better Way to Visualize the Cervix: A Low-Cost Cervical Cancer Screening Device for LMIC Settings
J. Med. Devices (April 2025)
Comparative Survey-Based Study of Noninvasive Saliva Collection Devices
J. Med. Devices (April 2025)
Related Articles
A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability
J. Med. Devices (September,2008)
Effect of Surgery to Implant Motion and Force Sensors on Vertical Ground Reaction Forces in the Ovine Model
J Biomech Eng (February,2011)
3D Graphical Rendering of Localized Lumps and Arteries for Robotic Assisted MIS
J. Med. Devices (June,2011)
Identification of Spindle Integrated Force Sensor’s Transfer Function for Modular End Mills
J. Manuf. Sci. Eng (February,2006)
Related Proceedings Papers
Related Chapters
Development of Intelligent Force Sensor System for Interactive Robot
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Computer Aided Design of Tools, Dies, and Moulds (TDMs)
Computer Aided Design and Manufacturing
Application
Design and Application of the Worm Gear