An Endoscopic Grasper Tool with a Supported Piezoelectric Tactile Sensor
نویسندگان
چکیده
In this study, we describe the design of a tactile sensor based on polyvinylidene fluoride (PVDF). The sensor exhibits high force sensitivity and linearity. This sensor is integrated with an endoscopic grasper tool and can be used in minimally invasive surgeries. It consists of three distinct layers. A rigid micro-machined tooth-like silicon constitutes the top layer of the grasper, and the Plexiglas constitutes the bottom layer and served as a substrate. The middle layer is a patterned PVDF film, which is sandwiched between the Plexiglas and the silicon. In order to predict the behavior of the tactile sensor, finite element analysis is employed. There is good correspondence between the theoretical results and the experimental findings.
منابع مشابه
A piezoelectric tactile sensor with three sensing elements for robotic, endoscopic and prosthetic applications
This paper reports on a prototype tactile sensing system with only three sensing elements. The magnitude and position of the applied force is obtained by utilising triangulation approach combined with membrane stress. Some information about the shape of the contacted Ž . object is obtained. The polyvinylidene fluoride PVDF sensor is designed to overcome the problems of cross talk between sensin...
متن کاملDesign, Modeling and Fabrication of a Tactile Sensor and Display System for Application in Laparoscopic Surgery
One of the major disadvantages of the minimally invasive surgery (MIS) is the lack of tactile feedback to the surgeon. In order to identify and avoid any damage to the grasped complex tissue by endoscopic graspers, it is important to measure the local softness of tissue during MIS. One way to display the measured softness to the surgeon is a graphical method. In this paper, a new tactile sensor...
متن کاملDesign and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect
In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...
متن کاملVirtual Palpation Gripper
In the middle of difficulty lies opportunity Summary This thesis presents the design and performance of the Virtual Palpation Gripper, an early prototype of a remote palpation instrument intended for laparoscopic surgery. Psychophysical experiments related to this prototype are also described. In minimally invasive techniques, such as laparoscopic surgery, the interventions are performed with i...
متن کاملTransverse Sensing of Simply Supported Truncated Conical Shells
Modal signals of transverse sensing of truncated conical shells with simply supported boundary condition at both ends are investigated. The embedded piezoelectric layer on the surface of conical shell is used as sensors and output voltages of them in considered modes are calculated. The Governing sensing signal displacement equations are derived based on the Kirchhoff theory, thin-shell assumpt...
متن کامل