Spiral wrapping flexible ultra-thin pressure sensor for adapting curvature changes of miniaturized neurosurgical robots (Conference Presentation)

Force feedback in minimally invasive surgeries is important in preventing iatrogenic injuries under remote controlled robotic surgical platforms. In this study, an ultra-thin biocompatible pressure sensor is designed to be installed onto three precurved overlapping 1 to 2.5 mm-diameter nitinol concentric tube manipulators of a miniaturized neurosurgical robotic tool to provide low-pressure range force feedback for pediatric surgeons. The finalized design can detect force magnitude and location with excellent signal-force proportionality from under 10 mN to 1 N, while adapting with the bending motions of the precurved tubes. The low-pressure range force feedback system in this study ensures safety and quality for very small neurosurgical tool used in pediatric minimally invasive operations.