title: Integration of a miniaturised triaxial force sensor in a minimally invasive surgical tool.
abstract: This paper reports preliminary results on design and fabrication of a cutting tool with an integrated triaxial force sensor to be applied in fetal surgery procedures. The outer diameter of the proposed device is 7.4 mm, but a scaled down design can be easily achieved. Linearity and hysteresis tests have been performed for both normal and tangential loadings. A linear transformation relating the sensor output to the external applied force is introduced and discussed. The typical working range for the conceived instrument is around 0.3 N, while 20 N and 1 N are, respectively, maximum normal and tangential forces for which the device robustness has been assessed.
authors.affiliation: CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy. p.valdastri@crim.sssup.it
authors.forename: Pietro
authors.initials: P
authors.lastname: Valdastri
authors.forename: Kanako
authors.initials: K
authors.lastname: Harada
authors.forename: Arianna
authors.initials: A
authors.lastname: Menciassi
authors.forename: Lucia
authors.initials: L
authors.lastname: Beccai
authors.forename: Cesare
authors.initials: C
authors.lastname: Stefanini
authors.forename: Masakatsu
authors.initials: M
authors.lastname: Fujie
authors.forename: Paolo
authors.initials: P
authors.lastname: Dario
mesh_terms: D004867:Equipment Design; D019544:Equipment Failure Analysis; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D013314:Stress, Mechanical; D018511:Systems Integration; D014159:Transducers