Force feedback-based microinstrument for measuring tissue properties and pulse in microsurgery

Menciassi, Arianna; Eisinberg, A.; Scalari, Giacomo; Anticoli, C.; Carrozza, M.C.; Dario, P.

doi:10.1109/robot.2001.932620

Cited by 60 publications

(40 citation statements)

References 11 publications

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“…A prototype miniature robotic instrument consisting of a micro-gripper equipped with semiconductor straingauges as force sensors has been presented by (Menciassi et al 2001). The device allowed feeling pulsating fluids in micro-vessels thanks to a haptic force-feedback interface.…”

Section: Serial Assembly Systemsmentioning

confidence: 99%

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

Probst¹,

Hürzeler²,

Borer³

et al. 2009

International Journal of Optomechatronics

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This paper presents a full 6 DOF microassembly system that features a novel remote center of motion configuration paired with advanced vision and illumination modules, as well as innovative user interaction concepts. Even though the semi-automatic design is primarily focused on the assembly of 3D bio-microrobotic devices out of individual 2.5D MEMS components, it can be configured for a large variety of assembly tasks. A gripper exchange mechanism allows reaching for parts with dimensions ranging from 5-800 m and a micro-fabricated platform featuring a special pattern provides a structured working area. The assembly of a miniature bio-microrobot is presented to demonstrate the dexterity and powerful features of this system. The underlying microassembly station combines multiple concepts for another step towards full manipulation automation in industrial and research applications.

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Section: Serial Assembly Systemsmentioning

confidence: 99%

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

Probst¹,

Hürzeler²,

Borer³

et al. 2009

International Journal of Optomechatronics

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“…Several other investigators have reported results from in vitro sensing of force in microsurgical systems [5,10]. Not all of these sensors provide three-axis sensing, however, and some of them are not of suitable size for incorporation within a handheld vitreoretinal microsurgical instrument.…”

Section: Introductionmentioning

confidence: 99%

Applied force during vitreoretinal microsurgery with handheld instruments

Jagtap

Riviere

The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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“…Kim et al [6] developed multi-axis MEMS force sensors in an approximately 3 x 5 x 0.5 mm form factor. Menciassi et al [7] developed a 15.5 mm micro-gripper with integrated strain gauge sensors.…”

Section: Introductionmentioning

confidence: 99%

Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery

Sun

Balicki

Kang

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-This paper reports the development of novel micro-force sensing tools for retinal microsurgery. Retinal microsurgery requires extremely delicate manipulation of retinal tissue, and tool-to-tissue interaction forces are frequently below human perceptual thresholds. Further, the interaction between the tool shaft and sclera makes accurate sensing of forces exerted on the retina very difficult with previously developed force sensing schemes, in which the sensor is located outside the eye.In the work reported here, we incorporate 160 μm Fiber Bragg Grating (FBG) strain sensors into the tool shaft to sense forces distal to the sclera. The sensor is applicable both with robotically manipulated and freehand tools. Preliminary results with a 1 degree-of-freedom (DOF) sensor have demonstrated 0.25 mN resolution, and work is underway to develop 2 and 3 DOF tools. The design and analysis of the force sensing tool is presented with preliminary testing data and some initial experiments using the tool with both freehand and robotic manipulation.

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Force feedback-based microinstrument for measuring tissue properties and pulse in microsurgery

Cited by 60 publications

References 11 publications

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

A Microassembly System for the Flexible Assembly of Hybrid Robotic Mems Devices

Applied force during vitreoretinal microsurgery with handheld instruments

Development and preliminary data of novel integrated optical micro-force sensing tools for retinal microsurgery

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