Micro device with force sensing for manipulate system of palpation

Tohru Sasaki*, Kaoru Tachikawa, Atsushi Murakami, Bilal Ahmed Mir, Yudai Fujiwara, Kenji Terabayashi, Mitsuru JiIndai, Kuniaki Dohda

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

ICT (information and communication technology) has increasingly been utilised in the medical and bio-engineering field. Most of medical records have been digitalised, and various information in medical procedures have been created as digital data. In microscopic surgery and bio-engineering, much operation demands digitalized data on operations for the introduction of robots. However, no method has been established in medical care to enable making data on living tissues for mechanical actions. Therefore, we developed a new sensing system that uses a hydraulic-driven micro device to measure a mechanical characteristic of bio tissues. This system can measure small forces acting on the tips of the end-effector as the internal pressure changes. Trained doctors can distinguish the state of the organ during an operation through touch. This is the palpations that a medical doctor performs. For robotic surgical systems such as da-Vinci, the capability of distinguishing the state of the organ through touch will enable such system to palpate in the future. It is necessary to explore the relationship between mechanical characteristic changes and pathological changes for this realization. The hydraulic-driven micro device handles an object and measures the reaction force and its displacement. This report describes the evaluation of measurement results using developed micro handling device which became high precision. The micro handling device to measure mechanical characteristic of bio tissues was actuated by the micro bellows. The bellows were made with very thin metal by electroforming. Because an improved bellows has low stiffness and it can expand and contract linearly, the bellows expand by small force and it has high sensitivity for the pressure changes. This work was supported by JSPS KAKENHI Grant Number 19K04308.

Original languageEnglish (US)
Title of host publicationProceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020
EditorsRichard K. Leach, David Billington, C. Nisbet, D. Phillips
Publishereuspen
Pages239-240
Number of pages2
ISBN (Electronic)9780995775176
StatePublished - 2020
Event20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020 - Geneva, Virtual, Austria
Duration: Jun 8 2020Jun 12 2020

Publication series

NameProceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

Conference

Conference20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020
CountryAustria
CityGeneva, Virtual
Period6/8/206/12/20

Keywords

  • Accuracy
  • Actuator
  • Hydrostatic
  • Sensor

ASJC Scopus subject areas

  • Instrumentation
  • Industrial and Manufacturing Engineering
  • Materials Science(all)
  • Environmental Engineering
  • Mechanical Engineering

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