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Development of a Sensor Concept for the Measurement of Tissue Interaction Forces in Minimally Invasive Robotic Surgery

Hornbacher, Sophia (2020) Development of a Sensor Concept for the Measurement of Tissue Interaction Forces in Minimally Invasive Robotic Surgery. DLR-Interner Bericht. DLR-IB-RM-OP-2020-174. Master's. Technical University of Munich. 155 S.

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This thesis describes the development of a sensor concept for sensing tissue interaction forces in minimally invasive surgery. An overview of force sensing principles, force feedback instruments, and the requirements for force sensors in minimally invasive robotic surgery is provided based on current state of the art. Moreover, current commercially available miniature force/torque sensors are assessed for compliance with the defined requirements for integration into the minimally invasive robotic instrument MICA developed at the German Aerospace Center (DLR). A field study is performed regarding the validity of partial force feedback. The study shows that the most sensible solution is represented by the feedback of the end-effector actuation force. Former research on the MICA instrument shows that the actuation of the end-effector influences the tissue interaction force measurement. Therefore, a test bench is developed to examine the influences of the instrument actuation on a force sensor placed between the wrist of the instrument and the end-effector. A mathematical model describing the force correlations in the test bench is defined and verified by experiments. Initial results indicate the required improvements needed for the test bench and experiment design, which are implemented in a final test plan. This thesis concludes with a concept presentation for the integration of a commercially available force sensor with the MICA instrument, providing a compensation solution for the influences of the end-effector actuation.

Item URL in elib:https://elib.dlr.de/137673/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Development of a Sensor Concept for the Measurement of Tissue Interaction Forces in Minimally Invasive Robotic Surgery
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:May 2020
Refereed publication:No
Open Access:No
Number of Pages:155
Keywords:Minimally invasive surgery, robotic instrument, DLR MICA, force sensor
Institution:Technical University of Munich
Department:Faculty of Mechanical Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Schlenk, Christopher
Deposited On:24 Nov 2020 17:13
Last Modified:24 Nov 2020 17:13

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