Force feedback in a piezoelectric linear actuator for neurosurgery

Area of Science:

• Robotics
• Surgical Technology
• Biomedical Engineering

Background:

• Force feedback in robotic surgery enhances surgeon's tactile sensation.
• Existing force sensors pose sterilization challenges and signal masking issues.
• Miniaturization is key for integrating sensors into surgical tools.

Purpose of the Study:

• To design and test methods for estimating probe advancement force in brain biopsies.
• To provide neurosurgeons with direct feedback on tissue mechanical properties.
• To develop a miniaturized, reliable force estimation method for neurosurgery.

Main Methods:

• Implemented and tested two sensing methods: in-axis strain gauge and control-based (position-position error).
• Evaluated methods based on psychophysical requirements for force detection, delay tolerance, and safety.
• Focused on device miniaturization and controller parameter definition for haptic integration.

Main Results:

• The control-based method demonstrated superior performance with Root Mean Square Error (RMSE) < 0.1 N.
• This method offers enhanced reliability, sterilizability, and suitable material dimensions.
• It effectively measures tissue resistance without requiring additional dedicated sensors.

Conclusions:

• The developed control-based force estimation method is compatible with neurosurgical applications.
• It enables accurate measurement of tissue resistance, improving surgical feedback.
• This approach enhances safety and precision in minimally invasive robotic surgery.