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Miniature Tri-Axial Force Sensor for Feedback in Minimally Invasive Surgery

Péter Baki, Gábor Székely, Gábor Kósa
Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
June 2012, in press

Abstract

A miniature tri-axial force sensor has been developed that complies with the requirements of integration into biomedical and robotic devices due to its size and accuracy. The sensor is a machined Titanium alloy body of the overall dimensions 8.6 × Ø3.4 mm with semi-conductor strain gauges embedded on it. The sensing beam’s size is 1 × 1 × 4.4 mm. We present here the design, calibration method and performance evaluation of our sensor. Properly calibrated, it can provide absolute resolution of 5 mN at 2 N full scale. The accuracy of the estimated angle of incidence is ± 1?. The measured magnitude of the force is within the ± 4 % range of the actual one. At maximal load the accuracy of the shear angle is ± 1?.


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@InProceedings{eth_biwi_00929,
  author = {Péter Baki and Gábor Székely and Gábor Kósa},
  title = {Miniature Tri-Axial Force Sensor for Feedback in Minimally Invasive Surgery},
  booktitle = {Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics},
  year = {2012},
  month = {June},
  keywords = {},
  note = {in press}
}