Force Measurement Capabilities Research Articles

An Adaptive Algorithm and Additively Manufactured Punch Used to Form Aluminum Sheet Metal Parts.

Self-adaptive mechanisms are gaining momentum in industrial processes. It is understandable that as the complexity increases, the human work must be augmented. Considering this, the authors have developed one such solution for the punch-forming process, using additive manufacturing, i.e., a 3D-printed punch, to draw into shape 6061-T6 aluminum sheets. This paper aims to highlight the topological study used to optimize the punch form shape, the methodology of the 3D printing process, and the material used. For the adaptive algorithm, a complex Python-to-C++ bridge was created. It was necessary as the script has computer vision (used for calculating stroke and speed), punch force, and hydraulic pressure measurement capabilities. The algorithm uses the input data to control its subsequent actions. Two approaches are used in this experimental paper, a pre-programmed direction and an adaptive one, for comparison purposes. The results, namely the drawing radius and flange angle, were statistically analyzed using the ANOVA methodology for significance. The results indicate significant improvements when using the adaptive algorithm.

Design and Evaluation of a Learning-Based Vascular Interventional Surgery Robot

Interventional therapy is one of the most effective methods for diagnosing and treating vascular-related diseases at present. It relies on achieving precise and safe navigation of intravascular tools within a patient’s vasculature. Vascular Interventional Surgical Robots (VISR) can reduce surgeons’ exposure to operational hazards including radiation. However, the absence of apt position control and force feedback remains a challenge. This study presents an isomorphic master–slave VISR for precise navigation of endovascular tools viz. catheters and guidewires. The master console aids operators in issuing manipulation commands and logs feedback from the force, rotation, and translation data. The slave manipulator uses the commands received from the master platform for actual tool navigation. However, precise master–slave position control and force feedback are precursors for optimal patient outcomes. This study utilized a fuzzy-PID controller for precise tool navigation and a neural network model for resistance force modulation with 50 mN precision. Furthermore, we evaluated the performance of using the learning-based models within our VISR and compared it with the performances from conventional methods. Results show that the models enhanced the proposed robotic system with better navigation precision, faster response speed, and improved force measurement capabilities.

A Smart Tool Holder Calibrated by Machine Learning for Measuring Cutting Force in Fine Turning and Its Application to the Specific Cutting Force of Low Carbon Steel S15C

Real-time monitoring of the cutting force in the machining process is critical for improving machining accuracy, optimizing the machining process, and optimizing tool lifetime; however, the dynamometers are too expensive to be widely used by machine tool users. Therefore, this paper presents a simple and cheap apparatus—a smart tool holder—to measure the cutting force of turning tools in the finishing turning. The apparatus does not change the structure of the turning tool. It consists of a tool holder and a piezoresistive force sensor foil, and transmits the signal through Bluetooth wireless communication. Instead of dealing with the circuit hardware, this paper uses the Artificial Neural Network (ANN) model to successfully calibrate the warm-up shift problem of the piezoresistive force sensor. Such a software method is simple, and considerably cheaper than the hardware method. For the force measurement capability of the smart tool holder, the cross-interference between orthogonal forces are very small and thus can be ignored. The force reading of the smart tool holder possesses high repeatability for the same turning parameters and high accuracy within the experiment groups. The authors apply the smart tool holder to cut the low carbon steel S15C, and to determine its specific cutting force in fine turning. The resulting fine turning force model agrees very well with the measurement. Its mean absolute deviation is 3.87% and its standard deviation is 1.55%, which reveals that the accuracy and precision of the smart tool holder and the fine turning force model are both good.

A novel local impedance algorithm and contact force sensing to guide high power short duration radiofrequency ablation is efficient and safe for circumferential pulmonary vein isolation

Abstract Funding Acknowledgements Type of funding sources: None. Introduction Local impedance (LI) drop can predict sufficient lesion formation during radiofrequency ablation (RF). Recently, a novel ablation catheter technology able to measure LI and contact force has been made available for clinical use. High power short duration (HPSD) RF ablation has been shown to be feasible for atrial fibrillation (AF) ablation with short procedure time. We used LI drop and plateau formation to guide duration of 50 Watt RF power applications for circumferential pulmonary vein isolation (PVI). Methods Consecutive patients with indication for de novo AF ablation (n = 32, age 65 ± 10 years) with paroxysmal (n = 16) or persistent (n = 16) AF underwent ultra high density 3D mapping of the left atrium and catheter ablation. Thereafter, ipsilateral PV encircling with 50 Watt RF-applications targeting an interlesion distance of ≤ 6mm and a contact force of 10-30g was performed. Duration of HPSD RF application between 7-15s was guided by impedance drop >20 Ohm and plateau formation of LI. Further ablation strategy was left to the investigator’s discretion. Esophageal temperature measurement was performed using a three thermistor catheter with temperature cut off 39.0°C. In case of temperature rise or very near esophageal contact to the circumferential line, RF application time was shortened to 7s. Patients underwent adenosine testing after PVI. Previously we performed all types of AF ablation using an LI guided HPSD ablation without contact force measurement capability in 80 patients. Results Complete PVI was achieved in all pts with only 13.5 ± 4.3 min cumulative RF application duration and an ablation procedure duration of 46.5 ± 10.4 min with the novel LI measuring catheter. First-pass isolation of ipsilateral veins was achieved in 75% of circles. Recurrence of PV conduction during waiting period (20min) and adenosine testing occured in 25% of circles, and was reablated in most patients with a single spot of HPSD application. Using 94 ± 36 RF application per patient, mean maximum LI drop was 23.6 ± 4.0 Ohm. Reconnected fibers were associated with low LI drop due to instability of contact in most cases due to breathing in case of difficult sedation of the patients. No serious complications occurred in all 32 pts using HPSD with the novel contact force catheter design. Conclusion Guiding of HPSD RF ablation by LI is highly efficient and safe. A novel local impedance algorithm in combination with contact force sensing enable short PVI times with low early recurrence of PV conduction. Prediction of permanent lesions seems possible and the only limitation seems to be unstable RF catheter contact due patients breathing. Follow up have to be waited.

Optical Force Sensor With Enhanced Resolution for MRI Guided Biopsy

A novel fiber optic force sensor design with enhanced resolution through titanium coating is fabricated using Fabry-Perot Interferometry (FPI) method and integrated into an 18 gauge MRI compatible biopsy needle, to be used in MRI guided interventional biopsy operations. The force sensor range and resolution are defined, and also needle insertion detection, deflection detection, tissue characterization and differentiation capabilities are tested via benchtop experiments. Overall system performance is tested via in vitro experiments under MRI using a commercial prostate phantom with representative leisons and it was shown that high resolution force sensing can help user to make sure that biopsy specimens are taken from the correct location. The fabricated sensor can measure forces up to 20 N with 0.1 N resolution and Ti coating enhances the sensor resolution to 0.03 N. Using biopsy needles with force measurement capability can improve the accuracy and safety of MRI guided minimally invasive biopsy procedures such as prostate biopsy. Biopsy needles incorporating high resolution force sensor can be used as a promising tool for cancer diagnosis thru stiffness detection of benign and malignant tissues instead of collecting biopsy specimens.

Human cardiac fibrosis-on-a-chip model recapitulates disease hallmarks and can serve as a platform for drug testing

While interstitial fibrosis plays a significant role in heart failure, our understanding of disease progression in humans is limited. To address this limitation, we have engineered a cardiac-fibrosis-on-a-chip model consisting of a microfabricated device with live force measurement capabilities using co-cultured human cardiac fibroblasts and pluripotent stem cell-derived cardiomyocytes. Transforming growth factor-β was used as a trigger for fibrosis. Here, we have reproduced the classic hallmarks of fibrosis-induced heart failure including high collagen deposition, increased tissue stiffness, BNP secretion, and passive tension. Force of contraction was significantly decreased in fibrotic tissues that displayed a transcriptomic signature consistent with human cardiac fibrosis/heart failure. Treatment with an anti-fibrotic drug decreased tissue stiffness and BNP secretion, with corresponding changes in the transcriptomic signature. This model represents an accessible approach to study human heart failure in vitro, and allows for testing anti-fibrotic drugs while facilitating the real-time assessment of cardiomyocyte function.

Towards quantifying the shear delamination of thin films

The design of multilayer stacks in the semiconductor industry requires knowledge of the delamination quantities. Previously, the determination of the mode-II failure has been problematic since the success-rate of current methods is low or the samples require superlayers that potentially alter the stack. We develop a method for mode-II testing that applies an additional normal force, which prevents mode-I opening and buckling. This method requires a nanoindenter with lateral force measurement capabilities and a FIB or lithographically structured sample. The experiments are fast, allowing for high-throughput testing. The method is applied to quantify the mode-II fracture of the Cu–SiO2 interface and we show the origins of the observed size-effect.

A 3D printed mechanical bioreactor for investigating mechanobiology and soft tissue mechanics

Mechanical loading is an important cue for directing stem cell fate and engineered tissue formation in vitro. Stem cells cultured on 2-dimensional (D) substrates and in 3D scaffolds have been shown to differentiate toward bone, tendon, cartilage, ligament, and skeletal muscle lineages depending on their exposure to mechanical stimuli. To apply this mechanical stimulus in vitro, mechanical bioreactors are needed. However, current bioreactor systems are challenged by their high cost, limited ability for customization, and lack of force measurement capabilities. We demonstrate the use of 3-dimensional printing (3DP) technology to design and fabricate a low-cost custom bioreactor system that can be used to apply controlled mechanical stimuli to cells in culture and measure the mechanical properties of small soft tissues. The results of our in vitro studies and mechanical evaluations show that 3DP technology is feasible as a platform for developing a low-cost, customizable, and multifunctional mechanical bioreactor system.• 3DP technology was used to print a multifunctional bioreactor system/tensile load frame for a fraction of the cost of commercial systems.• The system mechanically stimulated cells in culture and evaluated the mechanical properties of soft tissues.• This system is easily customizable and can be used to evaluate multiple types of soft tissues.

Safety and efficacy of pulmonary vein isolation using a surround flow catheter with contact force measurement capabilities: A multicenter registry.

Pulmonary vein (PV) isolation is the cornerstone of catheter ablation in patients with atrial fibrillation (AF). Surround flow and contact force (CF) measurement capabilities might enhance procedure efficacy and safety. We report on the safety and midterm efficacy of a novel ablation catheter for PV isolation in patients with AF. Two hundred thirty-three consecutive patients (57 ± 11 years, 76% males, 51% with structural heart disease), referred for paroxysmal (157) or persistent (76) AF, underwent PV isolation by a surround flow catheter with CF measurement capability in four centers. Ablation was guided by electroanatomic mapping allowing radiofrequency (RF) energy delivery in the antral region aiming at PV isolation. Mean overall procedure time was 100 ± 42 minutes with a mean fluoroscopy time of 6 ± 5 minutes. Mean ablation time was 31±15 minutes; 99% of the targeted veins were isolated. The mean CF value during ablation was 13 ± 4 g. Intraprocedural early (30 minutes) PV reconnection occurred in 12% PVs, and all PVs were effectively reisolated. One pericardial effusion and five groin hematomas were reported. During a mean follow-up of 12 ± 6 months, 30 (12.9%) (10% paroxysmal AF vs. 18% persistent AF, P = 0.07) patients had an atrial arrhythmias recurrence. In this multicenter registry, RF ablation using a new surround flow catheter, with CF sensor, resulted as feasible, achieving a high rate of isolated PVs. Procedural and fluoroscopy times and success rates were comparable with other techniques with a low complication rate.

A modular force-controlled robotic instrument for minimally invasive surgery - efficacy for being used in autonomous grasping against a variable pull force.

Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary. With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto-grasping control scheme. Copyright © 2016 John Wiley & Sons, Ltd.

Probing fluid flow using the force measurement capability of optical trapping

Interest in microfluidics is rapidly expanding and the use of microchips as miniature chemical reactors is increasingly common. Microfluidic channels are now complex and combine several functions on a single chip. Fluid flow details are important but relatively few experimental methods are available to probe the flow in confined geometry. We use optical trapping of a small dielectric particle to probe the fluid flow. A highly focused laser beam attracts particles suspended in a liquid to its focal point. A particle can be trapped and then repositioned. From the displacement of the trapped particle away from its equilibrium position one estimates the external force acting on the particle. The stiffness (spring constant) of the optical trap is low thus making it a sensitive force measuring device. Rather than using the optical trap to position and release a particle for independent velocimetry measurement, we map the fluid flow by measuring the hydrodynamic force acting on a trapped particle. The flow rate of a dilute aqueous electrolyte flowing through a plastic microchannel (W×H×L=5mm×0.4mm×50mm) was mapped using a small silica particle (1μm diameter). The fluid velocity profile obtained experimentally is in very good agreement with the theoretical prediction. Our flow mapping approach is time efficient, reliable and can be used in low-opacity suspensions flowing in microchannels of various geometries.

Vision-based force measurement using neural networks for biological cell microinjection

This paper presents a vision-based force measurement method using an artificial neural network model. The proposed model is used for measuring the applied load to a spherical biological cell during micromanipulation process. The devised vision-based method is most useful when force measurement capability is required, but it is very challenging or even infeasible to use a force sensor. Artificial neural networks in conjunction with image processing techniques have been used to estimate the applied load to a cell. A bio-micromanipulation system capable of force measurement has also been established in order to collect the training data required for the proposed neural network model. The geometric characterization of zebrafish embryos membranes has been performed during the penetration of the micropipette prior to piercing. The geometric features are extracted from images using image processing techniques. These features have been used to describe the shape and quantify the deformation of the cell at different indentation depths. The neural network is trained by taking the visual data as the input and the measured corresponding force as the output. Once the neural network is trained with sufficient number of data, it can be used as a precise sensor in bio-micromanipulation setups. However, the proposed neural network model is applicable for indentation of any other spherical elastic object. The results demonstrate the capability of the proposed method. The outcomes of this study could be useful for measuring force in biological cell micromanipulation processes such as injection of the mouse oocyte/embryo.

Biomolecule recognition using piezoresistive nanomechanical force probes

Highly sensitive sensors are one of the enabling technologies for the biomarker detection in early stage diagnosis of pathologies. We have developed a self-sensing nanomechanical force probe able for detecting the unbinding of single couples of biomolecular partners in nearly physiological conditions. The embedding of a piezoresistive transducer into a nanomechanical cantilever enabled high force measurement capability with sub 10-pN resolution. Here, we present the design, microfabrication, optimization, and complete characterization of the sensor. The exceptional electromechanical performance obtained allowed us to detect biorecognition specific events underlying the biotin-avidin complex formation, by integrating the sensor in a commercial atomic force microscope.

Cell Manipulation System Based on a Self-Calibrating Silicon Micro Force Sensor Providing Capillary Status Monitoring

In this paper, a system for cell manipulation is presented. A two axis stage is arranged on an inverted microscope to place cells in focus. Cell manipulation can thereby be observed while the system automatically runs force controlled measurements. A high precision linear motor moves a force sensor, which has been equipped with a stimulation tool, e.g., a micro capillary for cell injection. The sensor is made up of silicon and consists of a membrane with a boss structure, which enables measurements as low as 120 <formula formulatype="inline" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex Notation="TeX">$\mu{\rm N}$</tex></formula> . For the first tests, an injection capillary is mounted on the topside, while the backside is fixed to a printed circuit board with an integrated air pressure connection. Air pressure was applied under the membrane because the glass capillaries with outer diameters of at least 1 <formula formulatype="inline" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex Notation="TeX">$\mu{\rm m}$</tex></formula> do not allow calibration via other force sensors. This setup provides a self-calibration of the mounted sensor system, before the measurements of the occurred forces on the cells during the penetration of the capillary. Using the 3-D force measurement capability of the sensor, the system features a unique end-effector status monitoring.

AFM characterization of biomolecules in physiological environment by an advanced nanofabricated probe

Many relevant questions in biology and medicine require both topography and chemical information with high spatial resolution. Several biological events that occur at the nanometer scale level need to be investigated in physiological conditions. In this regard Atomic Force Microscopy (AFM) is one of the most powerful tools for label-free nanoscale characterization of biological samples in liquid environment. Recently, the coupling of Raman spectroscopy to scanning probe microscopies has opened new perspectives on this subject; however, the coupling of quality AFM spectroscopy with Raman spectroscopy in the same probe is not trivial. In this work we report about the AFM capabilities of an advanced high-resolution probe that has been previously nanofabricated by our group for coupling with Raman spectroscopy applications. We investigate its use for liquid AFM measurements on biological model samples like lipid bilayers, amyloid fibrils, and titin proteins. We demonstrate topography resolution down to nanometer level, force measurement and stable imaging capability. We also discuss about its potential as nanoscale chemical probe in liquid phase.

Clinical Impact of an Open‐Irrigated Radiofrequency Catheter with Direct Force Measurement on Atrial Fibrillation Ablation

Electrode-tissue contact is crucial for adequate lesion formation in radiofrequency catheter ablation (RFCA). We assessed the impact of direct catheter force measurement on acute procedural parameters during RFCA of atrial fibrillation (AF). Fifty consecutive patients (28 male) with paroxysmal AF who underwent their first procedure of circumferential pulmonary vein (PV) isolation (PVI) were assigned to either RFCA using (1) a standard 3.5-mm open-irrigated-tip catheter or (2) a catheter with contact force measurement capabilities. Using the endpoint of PVI with entry and exit block, acute procedural parameters were assessed. Procedural data showed a remarkable decline in ablation time (radiofrequency time needed for PVI) from 50.5 ± 15.9 to 39.0 ± 11.0 minutes (P = 0.007) with a reduction in overall procedure duration from 185 ± 46 to 154 ± 39 minutes (P = 0.022). In parallel, the total energy delivered could be significantly reduced from 70,926 ± 19,470 to 58,511 ± 14,655 Ws (P = 0.019). The number of acute PV reconnections declined from 36% to 12% (P = 0.095). The use of contact force sensing technology is able to significantly reduce ablation and procedure times in PVI. In addition, energy delivery is substantially reduced by avoiding radiofrequency ablation in positions with insufficient surface contact. Procedural efficacy and safety of this new feature have to be evaluated in larger cohorts.

Design of a Lightweight, Cost Effective Thimble-Like Sensor for Haptic Applications Based on Contact Force Sensors

This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation.

The NanoBeamBalance: A passive, tensile-test device for the atomic force microscope

An add-on device is presented, which significantly expands the force measurement capabilities of the atomic force microscope (AFM). The device consists of a completely passive mechanism, which translates the vertical motion of the AFM tip in force measurements into a horizontal motion of two sample support pads. The advantage is that it is much easier to deposit microscopic samples from suspension onto flat surfaces than to attach them reliably between tip and a surface. The working-principle and the design of the device is comprehensively described and demonstrated on the example of collagen fibres with a diameter of a few μm. Well-defined tensile measurements in longitudinal direction were performed, showing that the tensile stiffness of collagen fibres from rat tail tendon decreases by a factor of 5 when rehydrated from a dried sample and slowly increases upon cross-linking with glutaraldehyde.

A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability

The introduction of minimally invasive surgery (MIS) into the operating room has led to significant advantages over conventional open surgery. Furthermore, the migration toward robot-assisted MIS over the past decade has provided additional advantages. However, the lack of haptic feedback in these tele-operated robotic surgical systems has inhibited the surgeon’s ability to diagnose tissue as healthy or unhealthy, thereby creating a need for force feedback in these systems. This paper presents the design and development of a compact and modular laparoscopic grasper with tridirectional force measurement capability for applications in robot-assisted MIS. The instrumented laparoscopic grasper is capable of measuring the normal grasping force, as well as the manipulation forces (horizontal and vertical) during grasping tasks. The grasper also has a modular design that allows for easy conversion between different surgical modalities, such as grasping, cutting, and dissecting. Preliminary tele-operative experiments with force feedback capability through a haptic feedback device for artificial tissue characterization as well as knot tightening experiments indicate the capability of this grasper.

Experimental Characterization of Micro-Friction on a Mica Surface Using the Lateral Motion and Force Measurement Capability of an Instrumented Indenter

An experimental characterization of friction forces between asymmetric surfaces in the micro-regime is presented. The lateral motion and force-measurement capability of an instrumented indenter (triboindenter) is characterized and explored for determining friction properties at low velocities. Friction experiments are performed using the triboindenter with high repeatability. It is observed that real-time depth measurements closely follow the Hertzian prediction. Friction spikes with magnitudes depending on the drive velocity input are observed with peak friction force increasing with the dwell time. Anisotropy is observed between surfaces of different materials with stick-slip occurring only at specific relative orientations. Directions for expanding the current range of the triboindenter to obtain data from the nano to the macro scale are also presented.