학술논문
Experimental Testing and Implementation of a Force – Torque Sensor in Automated Percutaneous Needle Insertion Instruments
Document Type
Conference
Author
Source
2021 International Conference on e-Health and Bioengineering (EHB) e-Health and Bioengineering (EHB), 2021 International Conference on. :1-6 Nov, 2021
Subject
Language
ISSN
2575-5145
Abstract
The paper aims to describe the forces and torques that appear during the percutaneous needle insertion (through in vivo laboratory experiments) and investigate the benefits of a force/torque sensor integrated on an automated needle insertion instrument used as a robot end-effector. Based on the experimental results, several events occurring during the needle insertion were identified and described. Furthermore, a solution to implement a force/torque sensor into a needle insertion instrument was proposed.