Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery

Uikyum Kim; Dong Hyuk Lee; Woon Jong Yoon; Blake Hannaford; Hyouk Ryeol Choi

doi:10.1109/TRO.2015.2473515

Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery

Uikyum Kim, Dong Hyuk Lee, Woon Jong Yoon, Blake Hannaford, Hyouk Ryeol Choi

Department of Mechanical Engineering

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

216 Scopus citations

Abstract

This paper presents a novel surgical instrument integrated with a four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, the sensor enables the direct sensing of normal and shear forces at surgical instrument tips. Thus, three-DOF pulling forces and a single-DOF grasping force can be measured for haptic feedback control of robotic minimally invasive surgery systems. The sensor consists of four capacitive transducers, and all the transducers including analog signal processing units are embedded in small surgical instrument tips. The four-DOF force sensing is enabled thanks to the four capacitive transducers by using the force transformation method. In this study, the instrument is designed and manufactured to be adaptable to the open-source surgical robot platform, called Raven-II. In addition, the sensing system is experimentally validated through its application to the Raven-II by using a reference force sensor.

Original language	English
Article number	7274530
Pages (from-to)	1214-1224
Number of pages	11
Journal	IEEE Transactions on Robotics
Volume	31
Issue number	5
DOIs	https://doi.org/10.1109/TRO.2015.2473515
State	Published - 1 Oct 2015

Keywords

Capacitive sensor
force sensor
haptic feedback
minimally invasive surgery (MIS)

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10.1109/TRO.2015.2473515

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title = "Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery",

abstract = "This paper presents a novel surgical instrument integrated with a four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, the sensor enables the direct sensing of normal and shear forces at surgical instrument tips. Thus, three-DOF pulling forces and a single-DOF grasping force can be measured for haptic feedback control of robotic minimally invasive surgery systems. The sensor consists of four capacitive transducers, and all the transducers including analog signal processing units are embedded in small surgical instrument tips. The four-DOF force sensing is enabled thanks to the four capacitive transducers by using the force transformation method. In this study, the instrument is designed and manufactured to be adaptable to the open-source surgical robot platform, called Raven-II. In addition, the sensing system is experimentally validated through its application to the Raven-II by using a reference force sensor.",

keywords = "Capacitive sensor, force sensor, haptic feedback, minimally invasive surgery (MIS)",

author = "Uikyum Kim and Lee, \{Dong Hyuk\} and Yoon, \{Woon Jong\} and Blake Hannaford and Choi, \{Hyouk Ryeol\}",

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AU - Choi, Hyouk Ryeol

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AB - This paper presents a novel surgical instrument integrated with a four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, the sensor enables the direct sensing of normal and shear forces at surgical instrument tips. Thus, three-DOF pulling forces and a single-DOF grasping force can be measured for haptic feedback control of robotic minimally invasive surgery systems. The sensor consists of four capacitive transducers, and all the transducers including analog signal processing units are embedded in small surgical instrument tips. The four-DOF force sensing is enabled thanks to the four capacitive transducers by using the force transformation method. In this study, the instrument is designed and manufactured to be adaptable to the open-source surgical robot platform, called Raven-II. In addition, the sensing system is experimentally validated through its application to the Raven-II by using a reference force sensor.

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KW - haptic feedback

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Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery

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Keywords

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