Integrated Piezoelectric Vibration and In Situ Force Sensing for Low-Trauma Tissue Penetration

Precision-controlled microscale manipulation tasks-including neural probe implantation, ophthalmic surgery, and cell membrane puncture-often involve minimally invasive membrane penetration techniques with real-time force feedback to minimize tissue trauma. This imposes rigorous design requirements on the corresponding miniaturized instruments with robotic assistance. This paper proposes an integrated piezoelectric module (IPEM) that combines high-frequency vibration-assisted penetration with real-time in situ force sensing. The IPEM features a compact piezoelectric actuator integrated with a central tungsten probe, generating axial micro-vibration (4,652 Hz) to enable smooth tissue penetration while simultaneously measuring contact and penetration forces via the piezoelectric effect. Extensive experiments were conducted to validate the effectiveness and efficacy of the proposed IPEM. Both static and dynamic force-sensing tests demonstrate the linearity, sensitivity (9.3 mV/mN), and accuracy (mean absolute error < 0.3 mN, mean absolute percentage error < 1%) of the embedded sensing unit. In gelatin phantom tests, the module reduced puncture and insertion forces upon activation of vibration. In vivo experiments in mouse brains further confirmed that the system could reduce penetration resistance (from an average of 11.67 mN without vibration to 7.8 mN with vibration, decreased by 33%) through the pia mater and accurately mimic the electrode implantation-detachment sequence, leaving a flexible electrode embedded with minimal trauma. This work establishes a new paradigm for smart surgical instruments by integrating a compact actuator-sensor design with real-time in situ force feedback capabilities, with immediate applications in brain-machine interfaces and microsurgical robotics.