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.
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