Characterization of Force Characterization of Force Sensor for Haptic sensing Sensor for Haptic sensing in in Robotic SurgeryRobotic Surgery

Submitted by:Harsimran Jit Singh

Dinesh PankajDr. Amod Kumar

Prof. V.Rihani

HAPTICS:

Haptics is the science of applying touch sensation by using special input/output devices and control with some computer applications, users can receive feedback from computer applications in the form of felt sensations in the hand or other parts of the body.

Robotic Surgery & HapticsRobotic Surgery & HapticsIn the context of Robotic Surgery,

Haptics provides a force feedback from the robotic equipment to the surgeon.

After implementing Haptics in the Robotic equipment, the force profile generated inside patients body will be replicated to the surgeon’s hand.

Importance of Force-Importance of Force-FeedbackFeedbacksignificantly reduces the number of

errors.helps in performing soft-tissue

identificationprovides very effective method

interaction between the surgeon and the robotic equipment.

its an important secondary method of interaction other than visual interactions.

Characterization of a Sensor to be Characterization of a Sensor to be used in a force feedback device that used in a force feedback device that can sense a one dimensional force can sense a one dimensional force profile being produced in a physical profile being produced in a physical model.model.

Approach

Sensor used: Sensor used: METAL-FOIL METAL-FOIL STRAIN GAUGESTRAIN GAUGE

CIRCUIT EMPLOYED:CIRCUIT EMPLOYED:Wheat stone in Quarter-Bridge configuration

EXPERIMENTAL SETUP

MATHEMATICAL EXPRESSION:(Using bending equation)

Vo / V ex = [(1.5 GF*F*L)/(4*b*h^2)]*[ 1/( 1+(3*GF*F*L)/ (4*b*h^2))]

PRACTICALEXPERIMENTAL SETUP

OBSERVATIONS

• The sensor is characterized for force from 0-1KgF

• Slope of trend line is 1.158 v/V/gF with Y-intercept at 0.95933mv/V when normalized with respect to the excitation

voltage.

• Standard error in voltage output is 3.75%.

RESULTS & CONCLUSION

DiscussionDiscussionBased on repeatability achieved using this

sensor module during our work, the presented sensor can be used in a Haptic force feedback system in proposed applications like robotic surgery with appropriate modifications.

Further developments shall make this interactive interface system suitable for

multi dimensional force measurement and hopefully provide a more precise sensation of realness that adds a step forward towards the development of a haptic virtual environment.

THANK YOUTHANK YOU