用于微创手术机器人力觉反馈的六维力和力矩传感器设计

Robot-assisted minimally invasive surgery (RMIS) overcomes many limitations of MIS techniques and provides the surgeon with great help, but the drawback due to the lack of forces presents a great deal of limitations and difficulties. This paper describes the design of a miniature 6-axis force/torque sensor for force feedback which can be applied in RMIS. Based on the resistive sensing method, a flexural-hinged Stewart Platform is designed, a novel straightforward optimization method considering the general isotropy of the sensor is proposed to determine geometric parameters best suited for the given external loads. The working ranges of this sensor prototype are 30 N and 300 N?mm, and resolutions are 0.08 N in radial directions, 0.25 N in axial direction, and 2.4 N?mm in rotational directions. It is compatible with surgical instruments and can be used for force feedback.