Shape optimal design and force sensitivity evaluation of six-axis force sensors

Chao, Lu-Ping; Chen, Kuen-Tzong

doi:10.1016/s0924-4247(97)01534-3

Cited by 114 publications

(50 citation statements)

References 8 publications

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“…Many kinds of six-axis force/torque sensors were developed depend on strain gauges with different structures. Lu-Ping Chao [4], Baoyuan Wu [5] designed six-axis force sensors based on cross beam. Sheng A. Liu and Hung L. Tzo [6] presented a six-component force sensor in the form of four identical T-shaped bars.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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Section: Introductionmentioning

confidence: 99%

Design and optimization of a novel six-axis force/torque sensor for space robot

et al. 2015

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“…Generally, in force sensor design, the structure is designed on purpose to maximize the sensitivity isotropy [1]. In our case, the structure was designed by the manufacturer of the MPPS and SG location was determined on a reverse engineered CAD model of the MPPS by FE simulations analysis.…”

Section: Discussionmentioning

confidence: 99%

Intraoperative forces and moments analysis on patient head clamp during awake brain surgery

Lorenzo

Momi

Conti

et al. 2012

Med Biol Eng Comput

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In brain surgery procedures, such as deep brain stimulation, drug-resistant epilepsy and tumour surgery, the patient is intentionally awakened to map functional neural bases via electrophysiological assessment. This assessment can involve patient's body movements; thus, increasing the mechanical load on the head-restraint systems used for keeping the skull still during the surgery. The loads exchanged between the head and the restraining device can potentially result into skin and bone damage. The aim of this work is to assess such loads for laying down the requirements of a surgical robotics system for dynamic head movements compensation by fast moving arms and by an active restraint able to damp such actions. A Mayfield Ò head clamp was tracked and instrumented with strain gages (SGs). SG locations were chosen according to finite element analyses. During an actual brain surgery, displacements and strains were measured and clustered according to events that generated them. Loads were inferred from strain data. The greatest force components were exerted vertically (median 5.5 N, maximum 151.87 N) with frequencies up to 1.5 Hz. Maximum measured displacement and velocity were 9 mm and 60 mm/s, with frequencies up to 2.8 Hz. The analysis of loads and displacements allowed to identify the surgery steps causing maximal loads on the headrestraint device.

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“…It can measure forces with a resolution of 0.25 N in the axial direction and 0.05 N in the radial direction. In addition, there are some other commonly used structures include: the Maltese Cross [11], and Junyich's configuration [12] and their variations. To design a novel structure or choose one of these structures for force detection, it depends highly on the size of the structure, the desired balance between signal noise levels, signal coupling, measurement isotropy and the number of sensing elements.…”

Section: Resistive-based Force Detectionmentioning

confidence: 99%

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

Wang¹,

Wang²,

Lee³

2017

dtcse

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Abstract. Detection of interaction force between soft tissue and surgical instrument and perception of biomechanical property of tissue are imperative for reducing operation time and the risk of surgeon mistake. However, in Robot-assisted minimally invasive laparoscopic surgery (MILS), the surgeon's ability of perceiving valuable haptic information by manipulating the surgical robot system is severely impaired. In order to improve this ability of surgical robot, many university laboratories and research institutions have been committing to designing force sensor and developing force sensing techniques. According to a literature search work, which was performed within the publications of about twenty laboratories and research institutions working on surgical robot developing, this article attempts to summarize the force sensing techniques, force sensors and provide technical suggestions for the future development of force sensing for Robot-assisted MILS.

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Shape optimal design and force sensitivity evaluation of six-axis force sensors

Cited by 114 publications

References 8 publications

Design and optimization of a novel six-axis force/torque sensor for space robot

Design and optimization of a novel six-axis force/torque sensor for space robot

Intraoperative forces and moments analysis on patient head clamp during awake brain surgery

Overview on Force Sensing Techniques in Robot-assisted Minimally Invasive Laparoscopic Surgery

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