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- W4317383412 abstract "With the advantages of small wound and fast healing, minimally invasive surgery is applied more and more, but the force detection of minimally invasive surgical robots is still limited. There is no force sensor at the end of the instrument for force detection and feedback, which increases the difficulty of control in surgical operation. Aiming at the lack of force sensing device at the end of minimally invasive surgical instruments, this paper proposes a new miniature 3-axis force sensor, which can be used at the end of minimally invasive surgical instruments. Based on the three-spring model, the sensor has a simple structure, good linearity and a high frequency range. The structure can realize numerical decoupling by calibrating and analyzing the coupling relationship between dimensions. A series of simulation analyses demonstrate that the proposed miniature force sensor with a maximum diameter of 6 mm has good sensing characteristics. The maximum outer diameter of the sensor is controlled within 6mm, and the detectable force is designed to be <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$mathbf{pm 10 N}$</tex> ." @default.
- W4317383412 created "2023-01-19" @default.
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- W4317383412 date "2022-12-05" @default.
- W4317383412 modified "2023-09-27" @default.
- W4317383412 title "Analysis of a 3-Axis Force Sensor for Minimally Invasive Surgery" @default.
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- W4317383412 doi "https://doi.org/10.1109/robio55434.2022.10011662" @default.
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