Theoretical and experimental analysis of a piezoelectric tactile sensor for use in endoscopic surgery

This paper describes design, theoretical, and experimental analysis of a polyvinylidene fluoride (PVDF) tactile sensor, which could be integrated with an endoscopic grasper. The sensor exhibited high force sensitivity and linearity. Finite element analysis was employed to study the structural analysis of the tactile sensor with various load application and the results of this modelling are presented as the shear stress distribution and deformation contours. A comparison was made between the theoretical modeling and the experimental results.

[1]  F Tendick,et al.  Measuring in vivo animal soft tissue properties for haptic modeling in surgical simulation. , 2001, Studies in health technology and informatics.

[2]  J U Meyer,et al.  Intelligent surgical instrument system ISIS. Concept and preliminary experimental application of components and prototypes. , 1993, Endoscopic surgery and allied technologies.

[3]  Buddy D. Ratner,et al.  Biomaterials Science: An Introduction to Materials in Medicine , 1996 .

[4]  Christopher R. Wagner,et al.  The role of force feedback in surgery: analysis of blunt dissection , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[5]  Robert D. Howe,et al.  Remote palpation technology , 1995 .

[6]  Y. Fung,et al.  Biomechanics: Mechanical Properties of Living Tissues , 1981 .

[7]  Antonio Bicchi,et al.  A sensor-based minimally invasive surgery tool for detecting tissutal elastic properties(003) 5323219 , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[8]  Javad Dargahi,et al.  Piezoelectric and pyroelectric transient signal analysis for detection of the temperature of a contact object for robotic tactile sensing , 1998 .

[9]  Javad Dargahi,et al.  Micro-strain gauge endoscopic tactile sensor using two sensing elements for tissue manipulation , 2000, SPIE Defense + Commercial Sensing.

[10]  Javad Dargahi,et al.  A micromachined piezoelectric teeth-like laparoscopic tactile sensor: theory, fabrication and experiments , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  Manish Mehta.  A micromachined capacitive pressure sensor for use in endoscopic surgery , 1996 .

[12]  Javad Dargahi,et al.  A piezoelectric tactile sensor with three sensing elements for robotic, endoscopic and prosthetic applications , 2000 .

[13]  J. Dargahi.  An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor , 2002 .

[14]  H.J. Chizeck,et al.  Feedback regulation of hand grasp opening and contact force during stimulation of paralyzed muscle , 1991, IEEE Transactions on Biomedical Engineering.

[15]  S. Cowin,et al.  Biomechanics: Mechanical Properties of Living Tissues, 2nd ed. , 1994 .

[16]  Joon B. Park.  Biomaterials:An Introduction , 1992 .

[17]  Gábor Harsányi.  Polymer films in sensor applications: A review of present uses and future possibilities , 2000 .

[18]  C. Gans,et al.  Biomechanics: Motion, Flow, Stress, and Growth , 1990 .

[19]  Ronald S. Fearing,et al.  A surface micromachined microtactile sensor array , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[20]  J. Dargahi,et al.  Development and three-dimensional modelling of a biological-tissue grasper tool equipped with a tactile sensor , 2005, Canadian Journal of Electrical and Computer Engineering.

[21]  Rininsland Hh,et al.  Basics of robotics and manipulators in endoscopic surgery. , 1993 .

[22]  S. Payandeh,et al.  A micromachined piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication and experiments , 2000, Journal of Microelectromechanical Systems.

[23]  B. Hannaford,et al.  Computerized endoscopic surgical grasper. , 1998, Studies in health technology and informatics.

[24]  J Dargahi,et al.  Human tactile perception as a standard for artificial tactile sensing—a review , 2004, The international journal of medical robotics + computer assisted surgery : MRCAS.

[25]  J. Herbert,et al.  The Applications of Ferroelectric Polymers , 1988 .

[26]  Javad Dargahi,et al.  Combined force and position polyvinylidene fluoride (PVDF) robotic tactile sensing system , 1997, Defense, Security, and Sensing.