Design and Evaluation of a Force-Torque Sensor for Minimal Invasive Pathological Autopsy

Abstract

Accurate force and torque measurement is essential in minimally invasive autopsies to avoid tissue damage, aligning with the needs of pathologists and the deceased's family wishes. This research introduces a specialized force-torque sensor designed for this purpose. We designed a sensor using strain gauges, the strain gauges detect structural deformation of the sensor to quantify the forces and torques exerted on a cylindrical cutter. Experimental evaluations of the sensor's performance indicate its capability for basic force and torque monitoring in the autopsy process. However, the results also emphasize the necessity for further development to enhance accuracy. This study contributes an essential tool towards improving the minimally invasive autopsy technique, merging practical utility with ethical considerations.