A Suction-Based Peripheral Nerve Gripper Capable of Controlling the Suction Force

Measuring and controlling the force required to grip a nerve is required to avoid any undesired neurological damage caused by an excessive suction force applied to the tissue. We aimed to develop a suction-based nerve gripper that can measure the suction force applied to the gripped peripheral nerve...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 26; no. 4; pp. 1867 - 1876
Main Authors Jang, Namseon, Lee, Min Woo, Hwang, Donghyun
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Atmospheric pressure
Force
Force measurement
Force sensors
Grippers
Nerve tissues
Parametric analysis
Peripheral nerve gripper
peripheral nerve microsurgery
Pressure sensors
Robots
Suction
suction gripper
Surgery
surgical robot end-effectors
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Summary:Measuring and controlling the force required to grip a nerve is required to avoid any undesired neurological damage caused by an excessive suction force applied to the tissue. We aimed to develop a suction-based nerve gripper that can measure the suction force applied to the gripped peripheral nerve. A tiny force sensor can be incorporated by casting a soft material on a barometric pressure sensor chip and embedding it in the suction tip. In this study, a suction tip was designed based on a parametric analysis. The sensing characteristics and performance were evaluated experimentally. The experimental results demonstrate that a suction tip exhibits a force measurement capacity of approximately 2.8 N with a controlled suction force at 0.1 N intervals. The practical applicability of the proposed gripper was assessed based on an in vivo experiment performed on small animal subjects.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2021.3077078