Abstract
A 5 mm diameter tri-axial force sensor has been developed for minimally invasive robotic surgery. To define the required force range and resolution, a needle driver has been equipped with strain gauges. In vivo tests with different types of needles and tissue show that the required force range and resolution are, respectively, 2.5 N and 0.01 N. The new sensor is based on a flexible titanium structure of which the deformations are measured through reflective measurements with three optical fibres. It has a range of 2.5 N in axial direction and 1.7 N in radial direction.
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