A Robust Uniaxial Force Sensor for Minimally Invasive Surgery
- Yip, Michael C.
- Yuen, Shelten G.
- Howe, Robert D.
Publication date
January 2010
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE) ISSN
0018-9294 Journal
IEEE Transactions on Biomedical Engineering Citation count (estimate)
52Abstract
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 to 4 N force range with RMS errors of 0.13 N (<3.2%). In vivo tests provide the first endocardial measurements of tissue-MIS instrument interaction forces in a beating heart.Engineering and Applied Science
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