A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation

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

doi:10.1109/TRA.2003.817526

A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation

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

Whiting School of Engineering

Research output: Contribution to journal › Article › peer-review

119 Scopus citations

Abstract

The development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions was described. The application of miniature force sensors to scaled force feedback by using a cooperatively manipulated microsurgical assistant robot was also discussed. It was shown that the robot reacts to changes in the tip force of less than 5 mN.

Original language	English (US)
Pages (from-to)	917-922
Number of pages	6
Journal	IEEE Transactions on Robotics and Automation
Volume	19
Issue number	5
DOIs	https://doi.org/10.1109/TRA.2003.817526
State	Published - Oct 2003

Keywords

Clinical human computer interfaces
Force sensor
Micro-electromechanical systems (MEMS)-based medical devices
Robotics and robotic manipulators

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TRA.2003.817526

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abstract = "The development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions was described. The application of miniature force sensors to scaled force feedback by using a cooperatively manipulated microsurgical assistant robot was also discussed. It was shown that the robot reacts to changes in the tip force of less than 5 mN.",

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AU - Jensen, Patrick

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AB - The development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions was described. The application of miniature force sensors to scaled force feedback by using a cooperatively manipulated microsurgical assistant robot was also discussed. It was shown that the robot reacts to changes in the tip force of less than 5 mN.

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A Miniature Microsurgical Instrument Tip Force Sensor for Enhanced Force Feedback During Robot-Assisted Manipulation

Abstract

Keywords

ASJC Scopus subject areas

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