Biomechanical Tissue Characterisation by Force Sensitive Smart Laparoscope of Robin Heart Surgical Robot

摘要

Smart laparoscope device was developed and integrated into the ROBIN HEART surgery robot system. Miniaturised silicon based force sensors were developed and integrated into laparoscope tweezers for the special applications. Different sensors were applied to detect tactile information at the tip of the laparoscope and to measure the clamping force between the tweezers. Preliminary tests were accomplished to evaluate the force and tactile signals of the integrated sensors during interventions. Tactile measurements were implemented on artificial and real animal tissues to prove the applicability of the device for biomechanical screening during Minimal Invasive Surgery.