In minimally invasive robotic surgery (MIRS), the force/torque which occurred between instruments and organs cannot be accessed by surgeon. This paper presents development of a six-dimensional sensor based on double-hole parallel crossing beam, which can be integrated into instruments of MIRS. The size of sensor is 9.8 mm (diameter) × 6 mm (height). The structure of the sensor can acquire the force signals directly. The decoupling mechanism of the sensor was analyzed. The result of the finite element analysis (FEA) showed that the maximum coupling error was 3.8%. The machining error of the sensor was also investigated, and it was feasible for numerical control (NC) machine tools to manufacture the components of the sensor. The experimental calibration and soft tissue experiment indicated that the developed sensor can measure the force/torque loaded on the instrument and can be used to obtain the force feedback in the application of teleoperation surgical robot.
Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery
