HapCath: Highly Miniaturized Piezoresistive Force Sensors for Interior Palpation of Vessels during Angioplasty

Meiss, Thorsten; Kern, Thorsten A.; Sindlinger, Stephanie; Werthschützky, Roland

doi:10.1007/978-3-642-03906-5_62

Cited by 5 publications

(8 citation statements)

References 4 publications

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“…The resistance change co direction are given by 3 R , and 4 R of the resistors as labeled in force is applied, the opposite pi 2 R experience opposite strain tensile strain whereas 2 R will strain, or vice versa). When no resistance of each four piezore strain (either tensile or co sensitivity is defined as the tot four piezoresistors.…”

Section: Force Sensing Principlementioning

confidence: 99%

“…The earlier research attempts on developing MEMS sensors for catheterization applications were mainly focused on mounting pressure sensors near the tip of the guidewire [1], [2]. Others designed a force sensor on the tip of the guidewire in which only one dimensional contact force are acquired whereas tri-axial force information is more desirable in catheterization procedures [3]. A considerable amount of research has been conducted on developing tri-axial force sensors to measure both normal and share forces [4]- [6].…”

Section: Introductionmentioning

confidence: 99%

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Silicon nanowire based ring shape force sensor for sensorized guidewires

Han

Yoon

Hamidullah

et al. 2013

2013 Transducers &Amp; Eurosensors XXVII: The 17th International Conference on Solid-State Sensors, Actuators and Microsystems

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This paper presents the development of a ring shaped force sensor for sensorized guidewire applications. The sensor comprises a suspended ring structure located at the center of four suspended beams that can be integrated on the distal tip of a guidewire. SiNWs with a length of 6 µm and a cross section of 90 nm x 90 nm are embedded at the anchor of each silicon bridge as the piezoresistive sensing elements. Taking advantage of the high sensitivity of SiNWs, the fabricated sensor was capable to detect small displacement in nm ranges with a sensitivity of 13.4 x 10 -3 µm -1 in the z-direction. This force sensor showed high linearity (>99.9%) to the applied load and no obvious hysteresis was observed.

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Section: Force Sensing Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Silicon nanowire based ring shape force sensor for sensorized guidewires

Han

Yoon

Hamidullah

et al. 2013

2013 Transducers &Amp; Eurosensors XXVII: The 17th International Conference on Solid-State Sensors, Actuators and Microsystems

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“…Comparing with previous reported tri-axial force sensor designs in [37,39,52] the ring shape design is easy for sensor-guidewire assembly and adaptable to the commercial guidewire structures. In addition, the assembly configuration of a ring-shaped sensor minimizes the bending artifacts as it is directly integrated on the distal tip of the guidewire ， whereas most of the previous reported sensors for catheterization applications were mounted in a recess near the tip of the core wire or on the wall of catheter [35,36,53].…”

Section: Dissertation Organizationmentioning

confidence: 83%

“…Single crystal silicon nanowires (SiNWs) are embedded at the end of each beam as the piezoresistive sensing element to leverage its high gauge factor due to their high sensitivity and miniaturization achievable. Comparing with previous reported tri-axial force sensor designs in[37,39,52], the ring shape force design is easy for sensor-guidewire assembly and adaptable to the commercial guidewire structures. In addition, the assembly configuration of the ring-shaped sensor minimizes the bending artifacts as it is directly integrated on the distal tip of the guidewire, whereas most of the previous reported sensors for catheterization applications were mounted in a recess near the tip of the core wire or on the wall of catheter[35,36,53].Depending on the tip flexibility, guidewires are generally classified into three types, Floppy (tip load < 0.5g), Balanced (tip load 0.5g ~ 0.9g) and Extra support (tip load > 0.9g).…”

mentioning

confidence: 91%

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Microelectromechanical force and tactile sensors for minimally invasive surgery

Han¹

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This chapter gives a brief introduction to the background of the minimally invasive surgery (MIS) along with the motivation of developing MEMS force sensors for guidewires and tactile sensors for tissue elasticity measurement in biomedical applications. The research objectives and technical requirements regarding the development of force and tactile sensors are addressed, followed by the overall structure of this dissertation. 1.1 Motivation MIS has been widely practiced in hospitals since the 1980s. Instead of making large incisions on patient to gain access to internal anatomy, MIS operates through small incisions with long surgical instruments and viewing equipment. Nowadays this technique has been widely adopted in various surgical procedures including laparoscopy for abdominal cavity, thorascoscopy for chest cavity, arthroscopy for joints, pelviscopy for pelvis, and angioscopy for blood vessels, because it has numerous advantages over the traditional open surgery, such as less access trauma, reduced postoperative pain, shorter hospital stays and faster recovery time, which are cost-effective for both hospitals and patients [1]. Despite these advantages, MIS introduces drawbacks for surgeons in performing operations through small incisions such as constrains on the manoeuvrability of the surgical tool, restriction of the visual feedback, and the impossibility of directly manipulating tissue. This latter shortcoming is one of the main limitations of MIS [2]. In traditional open surgery, sense of touch plays an important role. It enables the surgeons to interact with the organs or tissues and manipulate them freely, e.g. feel the tissue hardness, measure the tissue properties, and apply appropriate force control actions for safe tissue manipulation [3]. However, in the MIS, the surgeon's ability of 1.2 Research objectives As discussed above, the objective of the work reported in this dissertation is to develop MEMS-based miniaturized i) force and ii) tactile sensors that can be used for tissue palpation in minimally invasive surgery, measuring tool-tissue interaction forces at the tip of guidewire and measuring tissue elasticity. Both types of the sensors are developed based on MEMS technology.

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Silicon nanowire-based ring-shaped tri-axial force sensor for smart integration on guidewire

Han

Yoon

Hamidullah

et al. 2014

J. Micromech. Microeng.

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A ring-shaped tri-axial force sensor with a 200 µm × 200 µm sensor area using silicon nanowires (SiNWs) as piezoresistive sensing elements is developed and characterized. The sensor comprises a suspended ring structure located at the center of four suspended beams that can be integrated on the distal tip of a guidewire by passing through the hollow core of the sensor. SiNWs with a length of 6 µm and a cross section of 90 nm × 90 nm are embedded at the anchor of each silicon bridge along 〈1 1 0〉 direction as the piezoresistive sensing element. Finite element analysis has been used to determine the location of maximum stress and the simulation results are verified with the experimental measurements. Taking advantage of the high sensitivity of SiNWs, the fabricated ring-shaped sensor is capable of detecting small displacement in nanometer ranges with a sensitivity of 13.4 × 10−3 µm−1 in the z-direction. This tri-axial force sensor also shows high linearity (>99.9%) to the applied load and no obvious hysteresis is observed. The developed SiNW-based tri-axial force sensor provides new opportunities to implement sensing capability on medical instruments such as guidewires and robotic surgical grippers, where ultra-miniaturization and high sensitivity are essential.

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HapCath: Highly Miniaturized Piezoresistive Force Sensors for Interior Palpation of Vessels during Angioplasty

Cited by 5 publications

References 4 publications

Silicon nanowire based ring shape force sensor for sensorized guidewires

Silicon nanowire based ring shape force sensor for sensorized guidewires

Microelectromechanical force and tactile sensors for minimally invasive surgery

Silicon nanowire-based ring-shaped tri-axial force sensor for smart integration on guidewire

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