Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation
Miniature 3-Axis Distal Force Sensor for Minimally Invasive Surgical Palpation
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DOI：
10.1109/tmech.2011.2116033
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发表时间：
2012-08-01
影响因子：
6.4
通讯作者：
Althoefer, Kaspar
中科院分区：
文献类型：
--
作者：
Puangmali, Pinyo;Liu, Hongbin;Althoefer, Kaspar
微创手术（MIS）是一种在减少疼痛和患者恢复时间方面具有明显优势的手术技术。然而，由于缺乏力和触觉反馈的缺点，在MIS手术中存在很大的局限性。组织触诊，这是很容易进行传统的开放手术，以检查组织的性质和异常，是不可能的，当执行手术时，在微创的方式。本文提出了一种专门设计的微型3轴远端力传感器，可用于执行组织触诊，测量手术器械尖端的组织相互作用力。依靠光学传感方案，传感器可以测量轴向+/- 3 N和径向+/- 1.5 N测量范围内的力。分辨率为0.02 N。它与腹腔镜手术兼容，可用于定位组织病变或埋在器官表面下的相对较硬的结节，这些结节无法通过视觉手段检测到。
Minimally invasive surgery (MIS) is a surgical technique that offers distinct advantages in reducing pain and patients' recovery time. However, the drawback due to the lack of force and tactile feedback presents a great deal of limitations in MIS procedures. Tissue palpation, which is easily conducted during traditional open surgery to examine tissue properties and abnormalities, is not possible when performing surgery in a minimally invasive manner. This paper proposes a specially designed miniature 3-axis distal force sensor that can be used to perform tissue palpation, measuring tissue interaction forces at the tip of a surgical instrument. Relying on an optical sensing scheme, the sensor can measure forces within measurement ranges of +/- 3 N in axial direction and +/- 1.5 N in radial direction. The resolution is 0.02 N. It is compatible with laparoscopic operations and can be used to localize tissue lesions or relatively hard nodules buried under an organ's surface, which are not detectable by visual means.