@inproceedings{77a416d97a3b45289f3aad0cd86c511c,
title = "A miniature instrument tip force sensor for robot/human cooperative microsurgical manipulation with enhanced force feedback",
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.",
keywords = "Clinical human computer interfaces, MEMS based medical devices, Robotics and robotic manipulators",
author = "Berkelman, {Peter J.} and Whitcomb, {Louis L.} and Taylor, {Russell H.} and Patrick Jensen",
note = "Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2000.; 3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000 ; Conference date: 11-10-2000 Through 14-10-2000",
year = "2000",
doi = "10.1007/978-3-540-40899-4_93",
language = "English (US)",
isbn = "3540411895",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "897--906",
editor = "Delp, {Scott L.} and DiGoia, {Anthony M.} and Branislav Jaramaz",
booktitle = "Medical Image Computing and Computer-Assisted Intervention - MICCAI 2000 - 3rd International Conference, Proceedings",
}