A Robust Uniaxial Force Sensor for Minimally Invasive Surgery

作者：Yip Michael C^*; Yuen Shelten G; Howe Robert D

来源：IEEE Transactions on Biomedical Engineering, 2010, 57(5): 1008-1011.

DOI：10.1109/TBME.2009.2039570

• Beating heart surgery
• force feedback
• minimally invasive surgery (MIS)
• mitral valve annuloplasty
• optical force sensor

This paper presents a novel miniature uniaxial force sensor for use within a beating heart during mitral valve annuloplasty. The sensor measures 5.5 mm in diameter and 12 mm in length and provides a hollow core to pass instrumentation. A soft elastomer flexure design maintains a waterproof seal. Fiber optic transduction eliminates electrical circuitry within the heart, and acetal components minimize ultrasound-imaging artifacts. Calibration uses a nonlinear viscoelastic method, and in vitro tests demonstrate a 0-4-N force range with rms errors of 0.13 N (< 3.2%). In vivo tests provide the first endocardial measurements of tissue-minimally invasive surgery instrument interaction forces in a beating heart.

• 出版日期2010-5