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A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation

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4 Author(s)
Berkelman, P.J. ; TIMC-IMAG Lab., Inst. Albert Bonniot, La Tronche, France ; Whitcomb, L.L. ; Taylor, R.H. ; Jensen, P.

This paper reports the development of a new miniature force sensor designed to measure contact forces at the tip of a microsurgical instrument in three dimensions, and its application to scaled force feedback using a cooperatively manipulated microsurgical assistant robot. The principal features of the sensor are its small size of 12.5 mm in diameter and 15 mm in height, a novel configuration of flexure beams and strain gauges in order to measure forces isotropically at the instrument tip 40 mm from the sensor body, and sub-mN three-axis force-sensing resolution.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 5 )