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Integrated Piezoelectric Vibration and In Situ Force Sensing for Low-Trauma Tissue Penetration
Bingze He1,2, Yao Guo1,2, Guangzhong Yang1,2
1Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.
Cyborg and Bionic Systems (Washington, D.C.)
|October 23, 2025
Summary
This study introduces an integrated piezoelectric module (IPEM) for minimally invasive surgery. The IPEM uses vibration-assisted penetration and real-time force sensing to reduce tissue trauma during procedures like neural probe implantation.
Area of Science:
- Biomedical Engineering
- Robotics
- Materials Science
Background:
- Minimally invasive procedures require precise instruments with real-time force feedback to minimize tissue damage.
- Existing miniaturized surgical tools face challenges in achieving both controlled penetration and accurate force sensing.
Purpose of the Study:
- To develop an integrated piezoelectric module (IPEM) combining vibration-assisted penetration and in situ force sensing for microscale manipulation.
- To validate the IPEM's performance in reducing tissue trauma and enabling precise surgical tasks.
Main Methods:
- Designed an IPEM with a piezoelectric actuator and tungsten probe for axial micro-vibration (4,652 Hz).
- Integrated force sensing using the piezoelectric effect for real-time contact and penetration force measurement.
- Conducted static/dynamic force tests, gelatin phantom experiments, and in vivo mouse brain implantation studies.
Main Results:
- Demonstrated high linearity, sensitivity (9.3 mV/mN), and accuracy (MAE < 0.3 mN) of the force sensing unit.
- Vibration activation significantly reduced puncture and insertion forces in phantom tests.
- In vivo experiments showed a 33% reduction in penetration resistance in mouse brains, enabling atraumatic electrode implantation.
Conclusions:
- The IPEM offers a novel solution for smart surgical instruments by integrating actuation and sensing.
- This technology advances microsurgical robotics and brain-machine interfaces by enabling precise, low-trauma procedures.
