A miniature instrument tip force sensor for robot/human cooperative microsurgical manipulation with enhanced force feedback

Peter J. Berkelman, Louis L. Whitcomb, Russell H. Taylor, Patrick Jensen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper reports the development of a new miniature force sensor to measure forces at the tip of a microsurgical instrument in three dimensions with sub-millinewton resolution. This sensor will enable enhanced force feedback during surgical intervention in which a user directly manipulates surgical instruments cooperatively with a forcereflecting robot arm. This “steady-hand” scaled force interaction enables a surgeon to sense millinewton forces between the instrument and delicate body tissues during microsurgery which would otherwise be far below the threshold of human tactile sensing. The magnified force feedback can increase the dexterity of the surgeon and improve safety by preventing large damaging forces from being exerted by the instrument. The design and analysis of the new force sensor is presented with preliminary testing and force scaling control results.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2000 - 3rd International Conference, Proceedings
EditorsScott L. Delp, Anthony M. DiGoia, Branislav Jaramaz
PublisherSpringer Verlag
Pages897-906
Number of pages10
ISBN (Print)3540411895, 9783540411895
DOIs
StatePublished - Jan 1 2000
Event3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000 - Pittsburgh, United States
Duration: Oct 11 2000Oct 14 2000

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1935
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000
CountryUnited States
CityPittsburgh
Period10/11/0010/14/00

Keywords

  • Clinical human computer interfaces
  • MEMS based medical devices
  • Robotics and robotic manipulators

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'A miniature instrument tip force sensor for robot/human cooperative microsurgical manipulation with enhanced force feedback'. Together they form a unique fingerprint.

Cite this