An MEMS-Based Force Sensor: Packaging and Proprioceptive Force Recognition Through Vibro-Haptic Feedback for Catheters

Catheters measure several physiological parameters, including tissue contact force during minimally invasive surgical (MIS) procedures. For force-sensing application in MIS procedures, micro-electro-mechanical-system (MEMS) technology offers advantages of miniaturization and high sensitivity within the dimensional constraints offered by the catheters. Given the challenges in the MIS procedures, integrating MEMS sensors within the catheter and a vibrotactile platform for force feedback offers a promising solution. This approach would result in a reliable smart catheter technology that works on the real-time haptic feedback transmitted to the operators. In this work, we develop a system for carrying out a manual MIS procedure. The system combines an MEMS-based force sensor integrated catheter interfaced with vibrotactile force feedback. We also present a facile 3-D-integrated sensor packaging (using plastic, printed circuit board (PCB), and spring-loaded pins) to realize electrical interconnections between the fabricated force sensor and measurement system, which can also be adapted for various applications. We demonstrate the working model of the catheter with a force sensor and force feedback mechanism on porcine heart tissues.