TY - GEN
T1 - Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery
AU - Gonenc, Berk
AU - Handa, James
AU - Gehlbach, Peter
AU - Taylor, Russell H.
AU - Iordachita, Iulian
PY - 2013
Y1 - 2013
N2 - Vitreoretinal surgery is associated with serious complications that can easily stem from excessive tissue manipulation forces while the forces required for such surgery are routinely well below human tactile sensation. Despite the critical need in this area, there is still no practical vitreoretinal instrument that can sense both the axial and transverse tool-to-tissue interaction forces with sub-mN accuracy. In this study, we present the conceptual design and optimization of a 3 degrees-of-freedom (DOF) force sensing micro-forceps as the next generation of our force sensing instruments. 4 fiber Bragg grating (FBG) strain sensors are integrated in the design to measure tool tip forces.
AB - Vitreoretinal surgery is associated with serious complications that can easily stem from excessive tissue manipulation forces while the forces required for such surgery are routinely well below human tactile sensation. Despite the critical need in this area, there is still no practical vitreoretinal instrument that can sense both the axial and transverse tool-to-tissue interaction forces with sub-mN accuracy. In this study, we present the conceptual design and optimization of a 3 degrees-of-freedom (DOF) force sensing micro-forceps as the next generation of our force sensing instruments. 4 fiber Bragg grating (FBG) strain sensors are integrated in the design to measure tool tip forces.
UR - http://www.scopus.com/inward/record.url?scp=84886499911&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84886499911&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2013.6610841
DO - 10.1109/EMBC.2013.6610841
M3 - Conference contribution
C2 - 24111028
AN - SCOPUS:84886499911
SN - 9781457702167
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5686
EP - 5689
BT - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
T2 - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Y2 - 3 July 2013 through 7 July 2013
ER -