Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery
来源期刊：中南大学学报(英文版)2015年第12期
论文作者：LI Kun PAN Bo GAO Wen-peng FENG Hai-bo FU Yi-li WANG Shu-guo
文章页码：4566 - 4577
Key words：force feedback; force/torque sensor; Stewart platform; optimal design; robot-assisted minimally invasive surgery
Abstract: In order to restore force sensation to robot-assisted minimally invasive surgery (RMIS), design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented. Based on the resistive sensing method, a flexural-hinged Stewart platform is designed as the flexible structure, and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads. The accuracy of this method is preliminarily discussed by finite element methods (FEMs). The sensor prototype is fabricated with the development of the electronic system. Calibration and dynamic loading tests for this sensor prototype are carried out. The working ranges of this sensor prototype are 30 N and 300 N？mm, and resolutions are 0.08 N in radial directions, 0.25 N in axial direction, and 2.4 N？mm in rotational directions. It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult. The sensor is compatible with surgical instruments for force feedback in RMIS.
LI Kun(李坤)1, PAN Bo(潘博)1, GAO Wen-peng(高文朋)2, FENG Hai-bo(封海波)1, FU Yi-li(付宜利)1, WANG Shu-guo(王树国)1
(1. State Key Laboratory of Robotics and System (Harbin Institute of Technology), Harbin 150080, China;
2. School of Life Science and Technology, Harbin Institute of Technology, Harbin 150080, China)
Abstract:In order to restore force sensation to robot-assisted minimally invasive surgery (RMIS), design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented. Based on the resistive sensing method, a flexural-hinged Stewart platform is designed as the flexible structure, and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads. The accuracy of this method is preliminarily discussed by finite element methods (FEMs). The sensor prototype is fabricated with the development of the electronic system. Calibration and dynamic loading tests for this sensor prototype are carried out. The working ranges of this sensor prototype are 30 N and 300 N？mm, and resolutions are 0.08 N in radial directions, 0.25 N in axial direction, and 2.4 N？mm in rotational directions. It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult. The sensor is compatible with surgical instruments for force feedback in RMIS.
Key words:force feedback; force/torque sensor; Stewart platform; optimal design; robot-assisted minimally invasive surgery
