Force Senser Design Of The Minimally Invasive Surgical Instruments

This paper mainly studies the force sensor for celiac minimally invasive surgicalrobot, aimed at exploring a force dictation method in the environment of celiacminimally invasive surgery, so as to provide a accurate and real-time signal for the forcefeedback system.During the study, first of all, detection scheme was determined by reference to alarge number of related literature home and abroad, including the installation position ofsensor and electrical element. Then the corresponding design criterion was put forwardaccording to the sensor using environment and analysis of medical experiments, and thesensor structure was determined through comparing, modeling and computing kinds ofelastomer structure. Finally, the experiment scheme, signal processing circuit, softwareand platform for calibration were designed according to the analysis before.The physical work of this study includes a3-D and a4-D force sensor, a set ofcircuit capable of signal conditioning, amplification, sampling and communication, aLabview software capable of multichannel data acquisition, analysis, display and resultaccessing. Theoretical work of the study includes obtaining the matrix relationshipbetween external force and the strain through simplified structure model, and achievingthe reasonable size based on the analysis of matrix condition number and the finiteelement analysis; completing the signal processing circuit schematic diagram, designingthe sampling control algorithm, and finishing the PC software with the graphicalprogramming language.Calibration experiment indicates that the sensor structure is reasonable, it canproduce enough deformation which can be detected the follow-up circuit; Signalprocessing circuit and the PC software are successful, the circuit and the software canrealize functions as required. The force sensor prototype can detect the externalforce/moment in specified direction after calibration, the coupling is small, and showgood linearity and resolution within the prescribed scope of load. It meets the designrequirements in conclusion.