A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province.

Cheng Hou; Jiangjun Geng; Yuyang Sun; Tao Chen; Fengxia Wang; Hongling Ren; Xiuli Zuo; Yanqing Li; Huicong Liu; Lining Sun

doi:10.1109/NEMS51815.2021.9451326

A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province.

Cheng Hou
, Jiangjun Geng
, Yuyang Sun
, Tao Chen
, Fengxia Wang
, Hongling Ren
, Xiuli Zuo
, Yanqing Li
, Huicong Liu
, Lining Sun

Jiangsu Provincial Key Laboratory of Advanced Robotics
National University of Singapore
Cheeloo College of Medicine, Shandong University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper reports a sensorized forcep with a minimized force sensing chip to facilitate Robotic-assisted Minimally Invasive Surgery (RMIS). A piezoresistive triaxial force sensor chip (2\ \text{mm}\times 2\ \text{mm}) is developed and integrated in the grasping head of a continuum robot to provide additional tactile to the RMIS. Biocompatible hemisphere cap enhances the sensor's capability of triaxial force detection. A 3-dimensioanl (3D) force test is performed on the sensorized forcep. This simple strategy of configuration and sensing makes it possible in miniaturization of the forceps (outside diameter is less than 4 mm) for RMIS in the strictest operating space.

Original language	English
Title of host publication	Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	60-63
Number of pages	4
ISBN (Electronic)	9781665419413
DOIs	https://doi.org/10.1109/NEMS51815.2021.9451326
State	Published - 25 Apr 2021
Externally published	Yes
Event	16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021 - Xiamen, China Duration: 25 Apr 2021 → 29 Apr 2021

Publication series

Name	Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021

Conference

Conference	16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021
Country/Territory	China
City	Xiamen
Period	25/04/21 → 29/04/21

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10.1109/NEMS51815.2021.9451326

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Hou, C., Geng, J., Sun, Y., Chen, T., Wang, F., Ren, H., Zuo, X., Li, Y., Liu, H., & Sun, L. (2021). A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province. In Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021 (pp. 60-63). Article 9451326 (Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/NEMS51815.2021.9451326

Hou, Cheng ; Geng, Jiangjun ; Sun, Yuyang et al. / A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province. Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 60-63 (Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021).

@inproceedings{27cb05b87589490db6894fb05eb0d5ee,

title = "A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province.",

abstract = "This paper reports a sensorized forcep with a minimized force sensing chip to facilitate Robotic-assisted Minimally Invasive Surgery (RMIS). A piezoresistive triaxial force sensor chip (2\textbackslash{} \textbackslash{}text\{mm\}\textbackslash{}times 2\textbackslash{} \textbackslash{}text\{mm\}) is developed and integrated in the grasping head of a continuum robot to provide additional tactile to the RMIS. Biocompatible hemisphere cap enhances the sensor's capability of triaxial force detection. A 3-dimensioanl (3D) force test is performed on the sensorized forcep. This simple strategy of configuration and sensing makes it possible in miniaturization of the forceps (outside diameter is less than 4 mm) for RMIS in the strictest operating space.",

author = "Cheng Hou and Jiangjun Geng and Yuyang Sun and Tao Chen and Fengxia Wang and Hongling Ren and Xiuli Zuo and Yanqing Li and Huicong Liu and Lining Sun",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021 ; Conference date: 25-04-2021 Through 29-04-2021",

year = "2021",

month = apr,

day = "25",

doi = "10.1109/NEMS51815.2021.9451326",

language = "英语",

series = "Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "60--63",

booktitle = "Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021",

address = "美国",

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Hou, C, Geng, J, Sun, Y, Chen, T, Wang, F, Ren, H, Zuo, X, Li, Y, Liu, H & Sun, L 2021, A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province. in Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021., 9451326, Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021, Institute of Electrical and Electronics Engineers Inc., pp. 60-63, 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021, Xiamen, China, 25/04/21. https://doi.org/10.1109/NEMS51815.2021.9451326

A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province. / Hou, Cheng; Geng, Jiangjun; Sun, Yuyang et al.
Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 60-63 9451326 (Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hou, Cheng

AU - Geng, Jiangjun

AU - Sun, Yuyang

AU - Chen, Tao

AU - Wang, Fengxia

AU - Ren, Hongling

AU - Zuo, Xiuli

AU - Li, Yanqing

AU - Liu, Huicong

AU - Sun, Lining

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AB - This paper reports a sensorized forcep with a minimized force sensing chip to facilitate Robotic-assisted Minimally Invasive Surgery (RMIS). A piezoresistive triaxial force sensor chip (2\ \text{mm}\times 2\ \text{mm}) is developed and integrated in the grasping head of a continuum robot to provide additional tactile to the RMIS. Biocompatible hemisphere cap enhances the sensor's capability of triaxial force detection. A 3-dimensioanl (3D) force test is performed on the sensorized forcep. This simple strategy of configuration and sensing makes it possible in miniaturization of the forceps (outside diameter is less than 4 mm) for RMIS in the strictest operating space.

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Hou C, Geng J, Sun Y, Chen T, Wang F, Ren H et al. A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province. In Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 60-63. 9451326. (Proceedings of the 16th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2021). doi: 10.1109/NEMS51815.2021.9451326

A Sensorised Forcep Based on Piezoresistive Force Sensor for Robotic-assisted Minimally Invasive Surgery∗∗This work is funded by the National Key RD Program of China (2018YFB1307700); Postgraduate Research Practice Innovation Program of Jiangsu Province.

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