Creating a Soft Tactile Skin Employing Fluorescence Based Optical Sensing

Chiara, Federica De; Wang, Shuxin; Liu, Hongbin

doi:10.1109/lra.2020.2976303

Cited by 5 publications

(2 citation statements)

References 28 publications

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“…With the verification of pressure experiment, measuring range of 02.0 N with 2 mN resolution can be reached. De Chiara et al (2020) have used soft material and LIM to design soft tactile skin. It can be applied to external surface of instrument shaft in surgical robot.…”

Section: Force Sensingmentioning

confidence: 99%

“…To measure 3-degrees of freedom (DOF) forces acting at MIS gripper end, Peirs et al (2004) have introduced flexible parallelogram structures into LIM-based force sensor. Different from the sensor in Lazeroms et al (1996), Bandari et al (2020) and De Chiara et al (2020), the metallic flexible structures are helpful to guarantee higher stiffness of MIS gripper and better linearity in measuring range of sensor. Meanwhile, deformations caused by axial and radial forces can be decoupled using parallelogram structures with stiffness difference of adjacent beams (Puangmali et al , 2008b; Puangmali et al , 2010; Puangmali et al , 2012).…”

Section: Force Sensingmentioning

confidence: 99%

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Fiber-optic-based force and shape sensing in surgical robots: a review

Jiang

Masood

2023

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Purpose With the increasing development of the surgical robots, the opto-mechatronic technologies are more potential in the robotics system optimization. The optic signal plays an important role in opto-mechatronic systems. This paper aims to present a review of the research status on fiber-optic-based force and shape sensors in surgical robots. Design/methodology/approach Advances of fiber-optic-based force and shape sensing techniques in the past 20 years are investigated and summarized according to different surgical requirement and technical characteristics. The research status analysis and development prospects are discussed. Findings Compared with traditional electrical signal conduction, the phototransduction provides higher speed transmission, lower signal loss and the immunity to electromagnetic interference in robot perception. Most importantly, more and more advanced optic-based sensing technologies are applied to medical robots in the past two decades because the prominence is magnetic resonance imaging compatibility. For medical robots especially, fiber-optic sensing technologies can improve working security, manipulating accuracy and provide force and shape feedback to surgeon. Originality/value This is a new perspective. This paper mainly researches the application of optical fiber sensor according to different surgeries which is beneficial to learn the great potential of optical fiber sensor in surgical robots. By enumerating the research progress of medical robots in optimization design, multimode sensing and advanced materials, the development tendency of fiber-optic-based force and shape sensing technologies in surgical robots is prospected.

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Section: Force Sensingmentioning

confidence: 99%