Integration of microsensor for microsurgery robot's end-effector

In order to enhance the effect of robotic microsurgery, the microsensors were integrated on the robot's end-effector. On the basis of requirements presented for the integration design, measuring mechanism for the robotic end trephine's force and cutting depth was studied. Force microsensor and position microsensor were made use of to measure the surgical information of force and depth. The measuring mechanism was practised by means of linear sliding bearing and differential measuring structure. The sensor data board was developed. With the power spectral estimation of sensor data, the two digital filtering methods were proposed to eliminate the interference to the original microsensor signal. They are a filtering method of lowpass-bandstop serial structure suitable for the PC and a shift average filtering arithmetic suitable for the sensor data board. The experimental results show the integration of microsensors for microsurgery robot's end-effector is qualified for the design requirements, and the robotic end trephine can fulfill the surgical task of corneal cutting accurately.