Integration of Microsensors on End-effector for Robotic Microsurgical Keratoplasty

In order to improve the effect of robotic microsurgery for keratoplasty, force and position microsensors should be integrated on the end-effector of surgical robot. The mechanism for measuring the surgical information of punching force and cutting depth is discussed based on the requirements for integration design. The sensor data board is developed. To eliminate the interfering signal for transmission, the two digital filtering methods suitable for the PC and the sensor data board respectively are proposed by using the power spectral estimation of sensor data. On the basis of fuzzy sets, the sensor data fusion is studied for robotic control algorithm to have an accurate response of operational environments. The experimental results show that the integration of microsensors meets the design requirements and the robotic end-effector trephine can fulfill the surgical task of corneal trephination precisely.