Force Sensor Integration on Surgical Robots

Johns Hopkins Intelligent Medical Robotic Systems and Equipment (IMERSE) Lab

March 2022 - December 2023

Baltimore, MD

SolidWorks CAD Modeling, Milling, Lathe, Wire EDM, Welding, 3D Printing

I integrated a force sensor onto the Da Vinci and KUKA surgical robots to provide haptic feedback for doctors during surgical operation.

As a research assistant in Prof. Axel Krieger’s lab, I worked with graduate student Michael Kam on this project. I was responsible for the mechanical design of the force sensor integration and testing fixtures.

I proposed a new adaptor component that successfully connects the force sensor between the shaft and tool tip of the surgical instrument. I was able to design these adaptors in SolidWorks, then manufacture them using milling, lathe, wire EDM, and welding processes. I then used 3D printing to design test fixture components that ensure accurate force readings from the sensor.

This work was my first endeavor into both robotics research and medical robotics, and through this experience, I found a passion for both. I found the challenges of individual design work, combined with the collaboration required to design the entire mechanical and software system, incredibly rewarding.