Self-powered high-sensitivity piezoelectric sensors for end-fixture force sensing in surgical robots based on T-ZnO

Abstract

The lack of clamping force detection function of the surgical robot's end effector poses a challenge to the operation of doctors, which requires sensing and rapid response to transient forces during surgery. Therefore, it is necessary to design a surgical robot with a clamping force detection function. In this paper, the piezoelectric sensor was prepared with tetrapod-like zinc oxide (T-ZnO) as the primary raw material. The performance of the sensors was enhanced by adjusting the preparation parameters, and the prepared sensors were characterized by high sensitivity (182.5 mV/N). This work is the first to apply the piezoelectric sensor made of T-ZnO to the end fixtures of surgical robots, and the results show that the sensor's output voltage in the end fixture of the surgical robot increases with the increase of pressure, and the sensor has different responses to the clamped object with different stiffness. The sensor can be applied to the end fixture of surgical robots.