Design of 3-DOF force sensing micro-forceps for robot assisted vitreoretinal surgery
作者： Berk Gonenc , James Handa , Peter Gehlbach , Russell H. Taylor , Iulian Iordachita
DOI: 10.1109/EMBC.2013.6610841
关键词:
摘要: Vitreoretinal surgery is associated with serious complications that can easily stem from excessive tissue manipulation forces while the required for such are routinely well below human tactile sensation. Despite critical need in this area, there still no practical vitreoretinal instrument sense both axial and transverse tool-to-tissue interaction sub-mN accuracy. In study, we present conceptual design optimization of a 3 degrees-of-freedom (DOF) force sensing micro-forceps as next generation our instruments. 4 fiber Bragg grating (FBG) strain sensors integrated to measure tool tip forces.
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