A Robust Uniaxial Force Sensor for Minimally Invasive Surgery

Yip, Michael C.; Yuen, Shelten G.; Howe, Robert D.

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Author

Yip, Michael C.

Yuen, Shelten G.

Howe, Robert D. HARVARD

Published Version

https://doi.org/10.1109/TBME.2009.2039570

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Citation

Yip, Michael C., Shelten G. Yuen, and Robert D. Howe. 2010. A robust uniaxial force sensor for minimally invasive surgery. IEEE Transactions on Biomedical Engineering Bme 57(5): 1008-11.

Abstract

This paper presents a novel, miniature uniaxial force sensor for use within a beating heart during mitral valve annuloplasty. The sensor measures 5.5 mm in diameter and 12 mm in length, and provides a hollow core to pass instrumentation. A soft elastomer flexure design maintains a waterproof seal. Fiber optic transduction eliminates electrical circuitry within the heart, and acetal components minimize ultrasound imaging artifacts. Calibration uses a nonlinear, viscoelastic method, and in vitro tests demonstrate a 0 to 4 N force range with RMS errors of 0.13 N (<3.2%). In vivo tests provide the first endocardial measurements of tissue-MIS instrument interaction forces in a beating heart.