Proceedings of the
World Congress on Micro and Nano Manufacturing (WCMNM 2022 )
19–22 September 2022, Lueven, Belgium
doi:10.3850/978-981-18-5180-3_RP49-0007
Development of Micro Device Sensing for Surgical Robot - Investigation of Atherosclerosis Models -
1Graduate School of Science and Engineering for Education, University of Toyama
2Department of Mechatronics, Faculty of Engineering,University of Toyama
3Department of Mechanical Engineering, Northwestern University
ABSTRACT
Micro force sensors are of utmost importance for a variety of state-of-the-art biomedical devices that require micromanipulative operations with high precision and accuracy. Unfortunately, the measurement accuracy of miniaturized sensors decreases as they become smaller. Conventional sensing systems such as piezoelectric sensors are also not adequate for numerous sensing applications because they exhibit a decrease in detection output when scaled down. In contrast, a micro force sensor equipped with a hydraulic drive mechanism can obtain a large output even when the size is significantly reduced. By observing the pressure change in the water feeder, the external force applied to the end effector can be measured. The system uses the Pascal principle to measure small forces acting on the end-effector. In this study, we investigated a viscoelastic model to be measured in order to obtain the mechanical properties of the living body in contact with it. In addition, using an arteriosclerosis model, we performed viscoelasticity measurements on changes in the degree of stenosis, the amount of lipids, and the hardness of blood vessels, which are key diagnostic materials for surgery.
Keywords: Micro Sensor, Hydraulic-Driven, Biological Tissues, Estimation Of Mechanical Statics.
1Graduate School of Science and Engineering for Education, University of Toyama
2Department of Mechatronics, Faculty of Engineering,University of Toyama
3Department of Mechanical Engineering, Northwestern University
ABSTRACT
Micro force sensors are of utmost importance for a variety of state-of-the-art biomedical devices that require micromanipulative operations with high precision and accuracy. Unfortunately, the measurement accuracy of miniaturized sensors decreases as they become smaller. Conventional sensing systems such as piezoelectric sensors are also not adequate for numerous sensing applications because they exhibit a decrease in detection output when scaled down. In contrast, a micro force sensor equipped with a hydraulic drive mechanism can obtain a large output even when the size is significantly reduced. By observing the pressure change in the water feeder, the external force applied to the end effector can be measured. The system uses the Pascal principle to measure small forces acting on the end-effector. In this study, we investigated a viscoelastic model to be measured in order to obtain the mechanical properties of the living body in contact with it. In addition, using an arteriosclerosis model, we performed viscoelasticity measurements on changes in the degree of stenosis, the amount of lipids, and the hardness of blood vessels, which are key diagnostic materials for surgery.
Keywords: Micro Sensor, Hydraulic-Driven, Biological Tissues, Estimation Of Mechanical Statics.
