{"title":"一种微型显微外科器械尖端力传感器，用于在机器人辅助操作过程中增强力反馈","authors":"P. Berkelman, L. Whitcomb, R. Taylor, P. Jensen","doi":"10.1109/TRA.2003.817526","DOIUrl":null,"url":null,"abstract":"This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 mm from the sensor body, and sub-mN three-axis force-sensing resolution.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"175","resultStr":"{\"title\":\"A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation\",\"authors\":\"P. Berkelman, L. Whitcomb, R. Taylor, P. Jensen\",\"doi\":\"10.1109/TRA.2003.817526\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 mm from the sensor body, and sub-mN three-axis force-sensing resolution.\",\"PeriodicalId\":161449,\"journal\":{\"name\":\"IEEE Trans. Robotics Autom.\",\"volume\":\"27 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-10-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"175\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Trans. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/TRA.2003.817526\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2003.817526","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation
This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 mm from the sensor body, and sub-mN three-axis force-sensing resolution.
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