A Ring-Shaped Tri-Axial Force Sensor for Minimally Invasive Surgery
This paper presents the design of a ring-shaped tri-axial fore sensor that can be incorporated into the tip of a guidewire for use in minimally invasive surgery (MIS). The designed sensor comprises a ring-shaped structure located at the center of four cantilever beams. The ringdesign allows surgical tools to be easily passed through which largely simplified the integration process. Silicon nanowires (SiNWs) are used aspiezoresistive sensing elementsembeddedon the four cantilevers of the sensor to detect the resistance change caused by the applied load.An integration scheme with new designed guidewire tip structure having two coils at the distal end is presented. Finite element modeling has been employed in the sensor design to find the maximum stress location in order to put the SiNWs at the high stress regions to obtain maximum output. A maximum applicable force of 5 mN is found from modeling. The interaction mechanism between the designed sensor and a steel wire has been modeled by FEM. A linear relationship between the applied load on the steel wire and the induced stress on the SiNWs were observed.
[1] G. S. Guthart and J. Salisbury, J.K., "The IntuitiveTM telesurgery system:
overview and application", in Robotics and Automation, 2000.
Proceedings. ICRA -00. IEEE International Conference on, 2000, vol. 1,
pp. 618 -621 vol.1.
[2] A. J. Einstein, K. W. Moser, R. C. Thompson, M. D. Cerqueira, and M. J.
Henzlova, "Radiation dose to patients from cardiac diagnostic imaging",
Circulation, vol. 116, no. 11, pp. 1290-1305, Nov 2007.
[3] R. Razavi, D. L. Hill, S. F. Keevil, M. E. Miquel, V. Muthurangu, S.
Hegde, K. Rhode, M. Barnett, J. van Vaals, D. J. Hawkes, and E. Baker,
"Cardiac catheterisation guided by MRI in children and adults with
congenital heart disease", The Lancet, vol. 362, no. 9399, pp. 1877-1882,
2003.
[4] Yating Hu, R. B. Katragadda, Hongen Tu, Qinglong Zheng, Yuefa Li, and
Yong Xu, "Bioinspired 3-D tactile sensor for minimally invasive
surgery", Microelectromechanical Systems, Journal of, vol. 19, no. 6, pp.
1400-1408, 2010.
[5] J. Dargahi, M. Parameswaran, and S. Payandeh, "A micromachined
piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication
and experiments", Journal of Microelectromechanical Systems, vol. 9, no.
3, pp. 329-335, Sep 2000.
[6] J. Peirs, J. Clijnen, D. Reynaerts, H. V. Brussel, P. Herijgers, B.
Corteville, and S. Boone, "A micro optical force sensor for force feedback
during minimally invasive robotic surgery", Sensors and Actuators A:
Physical, vol. 115, no. 2-3, pp. 447-455, Sep 2004.
[7] P. Valdastri, K. Harada, A. Menciassi, L. Beccai, C. Stefanini, M. Fujie,
and P. Dario, "Integration of a miniaturized triaxial force sensor in a
minimally invasive surgical tool", Biomedical Engineering, IEEE
Transactions on, vol. 53, no. 11, pp. 2397 -2400, Nov 2006.
[8] P. Puangmali, H. Liu, L. D. Seneviratne, P. Dasgupta, and K. Althoefer,
"Miniature 3-axis distal force sensor for minimally invasive surgical
palpation", IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99,
pp. 1-11, 0.
[9] P. Puangmali, K. Althoefer, L. D. Seneviratne, D. Murphy, and P.
Dasgupta, "State-of-the-art in force and tactile sensing for minimally
invasive surgery", Sensors Journal, IEEE, vol. 8, no. 4, pp. 371-381,
2008.
[10] A. L. Trejos, R. V. Patel, and M. D. Naish, "Force sensing and its
application in minimally invasive surgery and therapy: a survey",
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of
Mechanical Engineering Science, vol. 224, no. 7, pp. 1435-1454, Jan
2010.
[11] S. Sokhanvar, M. Packirisamy, and J. Dargahi, "MEMS endoscopic
tactile sensor: toward in-situ and in-vivo tissue softness characterization",
Sensors Journal, IEEE, vol. 9, no. 12, pp. 1679-1687, 2009.
[12] P. Peng, A. S. Sezen, R. Rajamani, and A. G. Erdman, "Novel MEMS
stiffness sensor for in-vivo tissue characterization measurement", in
Engineering in Medicine and Biology Society, 2009. EMBC 2009.
Annual International Conference of the IEEE, 2009, pp. 6640-6643.
[13] M. A. Qasaimeh, S. Sokhanvar, J. Dargahi, and M. Kahrizi, "PVDF-based
microfabricated tactile sensor for minimally invasive surgery",
Microelectromechanical Systems, Journal of, vol. 18, no. 1, pp. 195-207,
2009.
[14] H.-L. Chau and K. D. Wise, "An ultraminiature solid-state pressure
sensor for a cardiovascular catheter", Electron Devices, IEEE
Transactions on, vol. 35, no. 12, pp. 2355 -2362, 1988.
[15] M. Esashi, H. Komatsu, T. Matsuo, M. Takahashi, T. Takishima, K.
Imabayashi, and H. Ozawa, "Fabrication of catheter-tip and sidewall
miniature pressure sensors", Electron Devices, IEEE Transactions on,
vol. 29, no. 1, pp. 57 - 63, 1982.
[16] P. Polygerinos, D. Zbyszewski, T. Schaeffter, R. Razavi, L. D.
Seneviratne, and K. Althoefer, "MRI-compatible fiber-optic force sensors
for catheterization procedures", Sensors Journal, IEEE, vol. 10, no. 10,
pp. 1598 -1608, Oct 2010.
[17] C. Li, P.-M. Wu, J. Han, and C. Ahn, "A flexible polymer tube lab-chip
integrated with microsensors for smart microcatheter", Biomedical
Microdevices, vol. 10, no. 5, pp. 671-679, 2008.
[18] T. Meiß, T. A. Kern, S. Sindlinger, and R. Werthsch├╝tzky, "HapCath:
highly miniaturized piezoresistive force sensors for interior palpation of
vessels during angioplasty", in World Congress on Medical Physics and
Biomedical Engineering, September 7 - 12, 2009, Munich, Germany, vol.
25/6, O. Dössel and W. C. Schlegel, Eds. Berlin, Heidelberg: Springer
Berlin Heidelberg, 2009, pp. 228-231.
[19] O. Hammarstrm, P. Benkowski, P. von Malmborg, and L. Tenerz,
"Sensor and guide wire assembly", U.S. Patent 633690608-Jan-2002.
[20] L. Tenerz and L. Smith, "Sensor and guide wire assembly", U.S. Patent
734381118-Mar-2008.
[21] I.-I. O. for Standardization, "ISO - International Organization for
Standardization". (Online). Available:
http://www.iso.org/iso/iso_catalogue/catalogue_tc/catalogue_detail.htm?
csnumber=19052. (Accessed: 24-Jun-2012).
[22] P. Neuzil, C. C. Wong, and J. Reboud, "Electrically controlled giant
piezoresistance in silicon nanowires", Nano Lett., vol. 10, no. 4, pp.
1248-1252, 2010.
[23] L. Lou, K. Ramakrishna, L. Shao, W.-T. Park, D. Yu, L. Lim, Y. Wee, V.
Kripesh, H. Feng, B. S. Y. Chua, C. Lee, and D.-L. Kwong, "Sensorized
guidewires with MEMS tri-axial force sensor for minimally invasive
surgical applications", in Engineering in Medicine and Biology Society
(EMBC), 2010 Annual International Conference of the IEEE, 2010, pp.
6461 -6464.
[24] S. D. Senturia, Microsystem Design. Springer, 2001.
[1] G. S. Guthart and J. Salisbury, J.K., "The IntuitiveTM telesurgery system:
overview and application", in Robotics and Automation, 2000.
Proceedings. ICRA -00. IEEE International Conference on, 2000, vol. 1,
pp. 618 -621 vol.1.
[2] A. J. Einstein, K. W. Moser, R. C. Thompson, M. D. Cerqueira, and M. J.
Henzlova, "Radiation dose to patients from cardiac diagnostic imaging",
Circulation, vol. 116, no. 11, pp. 1290-1305, Nov 2007.
[3] R. Razavi, D. L. Hill, S. F. Keevil, M. E. Miquel, V. Muthurangu, S.
Hegde, K. Rhode, M. Barnett, J. van Vaals, D. J. Hawkes, and E. Baker,
"Cardiac catheterisation guided by MRI in children and adults with
congenital heart disease", The Lancet, vol. 362, no. 9399, pp. 1877-1882,
2003.
[4] Yating Hu, R. B. Katragadda, Hongen Tu, Qinglong Zheng, Yuefa Li, and
Yong Xu, "Bioinspired 3-D tactile sensor for minimally invasive
surgery", Microelectromechanical Systems, Journal of, vol. 19, no. 6, pp.
1400-1408, 2010.
[5] J. Dargahi, M. Parameswaran, and S. Payandeh, "A micromachined
piezoelectric tactile sensor for an endoscopic grasper-theory, fabrication
and experiments", Journal of Microelectromechanical Systems, vol. 9, no.
3, pp. 329-335, Sep 2000.
[6] J. Peirs, J. Clijnen, D. Reynaerts, H. V. Brussel, P. Herijgers, B.
Corteville, and S. Boone, "A micro optical force sensor for force feedback
during minimally invasive robotic surgery", Sensors and Actuators A:
Physical, vol. 115, no. 2-3, pp. 447-455, Sep 2004.
[7] P. Valdastri, K. Harada, A. Menciassi, L. Beccai, C. Stefanini, M. Fujie,
and P. Dario, "Integration of a miniaturized triaxial force sensor in a
minimally invasive surgical tool", Biomedical Engineering, IEEE
Transactions on, vol. 53, no. 11, pp. 2397 -2400, Nov 2006.
[8] P. Puangmali, H. Liu, L. D. Seneviratne, P. Dasgupta, and K. Althoefer,
"Miniature 3-axis distal force sensor for minimally invasive surgical
palpation", IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99,
pp. 1-11, 0.
[9] P. Puangmali, K. Althoefer, L. D. Seneviratne, D. Murphy, and P.
Dasgupta, "State-of-the-art in force and tactile sensing for minimally
invasive surgery", Sensors Journal, IEEE, vol. 8, no. 4, pp. 371-381,
2008.
[10] A. L. Trejos, R. V. Patel, and M. D. Naish, "Force sensing and its
application in minimally invasive surgery and therapy: a survey",
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of
Mechanical Engineering Science, vol. 224, no. 7, pp. 1435-1454, Jan
2010.
[11] S. Sokhanvar, M. Packirisamy, and J. Dargahi, "MEMS endoscopic
tactile sensor: toward in-situ and in-vivo tissue softness characterization",
Sensors Journal, IEEE, vol. 9, no. 12, pp. 1679-1687, 2009.
[12] P. Peng, A. S. Sezen, R. Rajamani, and A. G. Erdman, "Novel MEMS
stiffness sensor for in-vivo tissue characterization measurement", in
Engineering in Medicine and Biology Society, 2009. EMBC 2009.
Annual International Conference of the IEEE, 2009, pp. 6640-6643.
[13] M. A. Qasaimeh, S. Sokhanvar, J. Dargahi, and M. Kahrizi, "PVDF-based
microfabricated tactile sensor for minimally invasive surgery",
Microelectromechanical Systems, Journal of, vol. 18, no. 1, pp. 195-207,
2009.
[14] H.-L. Chau and K. D. Wise, "An ultraminiature solid-state pressure
sensor for a cardiovascular catheter", Electron Devices, IEEE
Transactions on, vol. 35, no. 12, pp. 2355 -2362, 1988.
[15] M. Esashi, H. Komatsu, T. Matsuo, M. Takahashi, T. Takishima, K.
Imabayashi, and H. Ozawa, "Fabrication of catheter-tip and sidewall
miniature pressure sensors", Electron Devices, IEEE Transactions on,
vol. 29, no. 1, pp. 57 - 63, 1982.
[16] P. Polygerinos, D. Zbyszewski, T. Schaeffter, R. Razavi, L. D.
Seneviratne, and K. Althoefer, "MRI-compatible fiber-optic force sensors
for catheterization procedures", Sensors Journal, IEEE, vol. 10, no. 10,
pp. 1598 -1608, Oct 2010.
[17] C. Li, P.-M. Wu, J. Han, and C. Ahn, "A flexible polymer tube lab-chip
integrated with microsensors for smart microcatheter", Biomedical
Microdevices, vol. 10, no. 5, pp. 671-679, 2008.
[18] T. Meiß, T. A. Kern, S. Sindlinger, and R. Werthsch├╝tzky, "HapCath:
highly miniaturized piezoresistive force sensors for interior palpation of
vessels during angioplasty", in World Congress on Medical Physics and
Biomedical Engineering, September 7 - 12, 2009, Munich, Germany, vol.
25/6, O. Dössel and W. C. Schlegel, Eds. Berlin, Heidelberg: Springer
Berlin Heidelberg, 2009, pp. 228-231.
[19] O. Hammarstrm, P. Benkowski, P. von Malmborg, and L. Tenerz,
"Sensor and guide wire assembly", U.S. Patent 633690608-Jan-2002.
[20] L. Tenerz and L. Smith, "Sensor and guide wire assembly", U.S. Patent
734381118-Mar-2008.
[21] I.-I. O. for Standardization, "ISO - International Organization for
Standardization". (Online). Available:
http://www.iso.org/iso/iso_catalogue/catalogue_tc/catalogue_detail.htm?
csnumber=19052. (Accessed: 24-Jun-2012).
[22] P. Neuzil, C. C. Wong, and J. Reboud, "Electrically controlled giant
piezoresistance in silicon nanowires", Nano Lett., vol. 10, no. 4, pp.
1248-1252, 2010.
[23] L. Lou, K. Ramakrishna, L. Shao, W.-T. Park, D. Yu, L. Lim, Y. Wee, V.
Kripesh, H. Feng, B. S. Y. Chua, C. Lee, and D.-L. Kwong, "Sensorized
guidewires with MEMS tri-axial force sensor for minimally invasive
surgical applications", in Engineering in Medicine and Biology Society
(EMBC), 2010 Annual International Conference of the IEEE, 2010, pp.
6461 -6464.
[24] S. D. Senturia, Microsystem Design. Springer, 2001.
@article{"International Journal of Medical, Medicine and Health Sciences:50050", author = "Beibei Han and Yong-Jin Yoon and Muhammad Hamidullah and Angel Tsu-Hui Lin and Woo-Tae Park", title = "A Ring-Shaped Tri-Axial Force Sensor for Minimally Invasive Surgery", abstract = "This paper presents the design of a ring-shaped tri-axial fore sensor that can be incorporated into the tip of a guidewire for use in minimally invasive surgery (MIS). The designed sensor comprises a ring-shaped structure located at the center of four cantilever beams. The ringdesign allows surgical tools to be easily passed through which largely simplified the integration process. Silicon nanowires (SiNWs) are used aspiezoresistive sensing elementsembeddedon the four cantilevers of the sensor to detect the resistance change caused by the applied load.An integration scheme with new designed guidewire tip structure having two coils at the distal end is presented. Finite element modeling has been employed in the sensor design to find the maximum stress location in order to put the SiNWs at the high stress regions to obtain maximum output. A maximum applicable force of 5 mN is found from modeling. The interaction mechanism between the designed sensor and a steel wire has been modeled by FEM. A linear relationship between the applied load on the steel wire and the induced stress on the SiNWs were observed.
", keywords = "Triaxial MEMS force sensor, Ring shape, Silicon
Nanowire, Minimally invasive surgery.", volume = "6", number = "9", pages = "411-5", }
