Chatzipirpiridis G, Erne P, Ergeneman O, Pane S, Nelson B J
Annu Int Conf IEEE Eng Med Biol Soc. 2015 Aug;2015:7970-3. doi: 10.1109/EMBC.2015.7320241.
This paper presents a magnetically guided catheter for minimally invasive surgery (MIS) with a magnetic force sensing tip. The force sensing element utilizes a magnetic Hall sensor and a miniature permanent magnet mounted on a flexible encapsulation acting as the sensing membrane. It is capable of high sensitivity and robust force measurements suitable for in-vivo applications. A second larger magnet placed on the catheter allows the catheter to be guided by applying magnetic fields. Precise orientation control can be achieved with an external magnetic manipulation system. The proposed device can be used in many applications of minimally invasive surgery (MIS) to detect forces applied on tissue during procedures or to characterize different types of tissue for diagnosis.
本文介绍了一种用于微创手术（MIS）的磁导导管，其尖端带有磁力传感功能。力传感元件采用磁霍尔传感器和安装在柔性封装上的微型永磁体，该柔性封装充当传感膜。它能够进行高灵敏度和稳健的力测量，适用于体内应用。放置在导管上的第二个较大磁体可通过施加磁场来引导导管。借助外部磁操纵系统可实现精确的方向控制。所提出的装置可用于微创手术（MIS）的许多应用中，以检测手术过程中施加在组织上的力，或对不同类型的组织进行表征以用于诊断。
