HapCath: Highly miniaturized piezoresistive force sensors for interior palpation of vessels during angioplasty

Abstract

Medical and industrial telemanipulation and assistive systems require force sensors as a part of the effector interacting with objects or organs. The importance of haptic perception for medical application is still growing and numerous research groups are focusing on utilizing haptic technology in that area. Within the HapCath project, a concept to improve navigation of catheters and guide wires during radiological interventions is put into practice. In this paper a piezoresistive force sensor for measuring contact forces within the arteries is presented. It is manufactured to be mounted at the tip of guide wires with a diameter of 360 μm. Two different sensor structures are introduced in terms of measurement principles, manufacturing technologies and characterized by measured sensor performance. Technological challenges, e.g. the packaging for medical applications and its effect on sensor performance, are addressed. Future applications for tactile measurements are shown and the advantages, but also the challenges of tactile measurement technology based on piezoresistive force sensors are summarized.