Force Sensing Tip
In the 5mm wide tip, there are 5 semiconductor films, disassembled
from Force Sensing Resistors Sensor. The technique, Laser
Direct Structuring (LDS), is used for plating the tiny 3-D
wires on the Uppertip for the connections of the semiconductors.
The five sensors are for detecting the pull force (parallel
with x-y plane) and the pinch force( in +z direction) simultaneously.
The sensors are pressed by a cube of silicone which is used
for dispersing the force, from the tissue via a steel ball
of the teeth, equally in three directions. All the sensors
and wires are sealed up in the Uppertip to prevent the liquid
of tissues. And, the Uppertip is installed to the Lowertip
which is the module of Storz tip 33310 ON.
Below the lid of the Box, is an isolated room which can be
placed the one-time-use tray containing with tissues. And,
the foam layer which in similar size as the human abdominal
is set up on the lid of the box, which can be pierced by the
user in different area for inserting the two graspers.
The box is connected with the computer which with the control
program, packaged by C++. The user can change different safe
area for different tissue in the window. For the same tissue,
the size of safe area can be adjusted for training in different
levels. The live view window is launched by the control program.
After information of F-Pull and F-Pinch are compared with
the defined safe area, the decision for feedback will be output
to the actuators.