Development of a Six-Dimensional Sensor for Minimally Invasive Robotic Surgery

Abstract

In minimally invasive robotic surgery (MIRS), the force/torque which occurred between instruments and organs cannot be accessed by surgeon. This paper presents development of a six-dimensional sensor based on double-hole parallel crossing beam, which can be integrated into instruments of MIRS. The size of sensor is 9.8 mm (diameter) × 6 mm (height). The structure of the sensor can acquire the force signals directly. The decoupling mechanism of the sensor was analyzed. The result of the finite element analysis (FEA) showed that the maximum coupling error was 3.8%. The machining error of the sensor was also investigated, and it was feasible for numerical control (NC) machine tools to manufacture the components of the sensor. The experimental calibration and soft tissue experiment indicated that the developed sensor can measure the force/torque loaded on the instrument and can be used to obtain the force feedback in the application of teleoperation surgical robot.

Research of the master–slave robot surgical system with the function of force feedback

“…A novel six‐dimensional force/torque sensor with dimensions of 9.8 mm (diameter) × 6 mm (height) and a double‐layer structure was inserted into the tip of the end effector. The sensor was placed between the grippers and the joint to minimise the influence of external friction, thereby achieving more precise measurements of force/torque …”