Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots

Abstract

Due to the narrow space and a harsh chemical environment in the sterilization processes for the end-effector of surgical robots, it is difficult to install and integrate suitable sensors for the purpose of effective and precise force control. This paper presents an innovative tension sensor for estimation of grasping force in our laparoscope surgical robot. The proposed sensor measures the tension of cable using fiber gratings (FBGs) which are pasted in the grooves on the inclined cantilevers of the sensor. By exploiting the stain measurement characteristics of FBGs, the small deformation of the inclined cantilevers caused by the cable tension can be measured. The working principle and the sensor model are analyzed. Based on the sensor model, the dimensions of the sensor are designed and optimized. A dedicated experimental setup is established to calibrate and test the sensor. The results of experiments for estimation the grasping force validate the sensor.

Advantage of Steerable Catheter and Haptic Feedback for a 5-DOF Vascular Intervention Robot System

“…Many future studies related to this research can be performed. In recent studies, various sensors and artificial intelligence were applied to surgical robots [24][25][26]. In the present study, force measurements using the FT sensor were performed only on the catheters.…”

Surgical Navigation System for Transsphenoidal Pituitary Surgery Applying U-Net-Based Automatic Segmentation and Bendable Devices

“…The degree of bending in the proposed bendable device was not updated in the navigation system. To enhance this challenge, future work will involve incorporating a fiber Bragg grating sensor to measure the bending angle of the proposed bendable device, enabling the bending angle to be updated in the navigation system [36]. We also plan to apply the proposed navigation system and bendable devices to actual patient after receiving approval from Korean FDA.…”

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

“…Other surgical applications regard laparoscopic and endoscopic procedures, where FBGs have been extensively used to provide tactile feedbacks inferred from either the exerted forces during surgical tasks or the distal contact force during tissue palpation. Solutions based on one-point and distributed measurements have been proposed using uniform single or multiple FBGs, directly mounted on the tip, in the proximity of the tip or onto a transmission mechanism connected to the tool (e.g., Steward [128], Sarrus [129], and cantilever-beams [130] structures). Moreover, FEMs have been often used to drive the system development in terms of optimized sensor positioning and miniaturized tool dimensions to achieve the best performances.…”

“…Trade-offs between the force sensing resolution and proximity of the sensors to the tool tip can be optimized by properly choosing the sensor locations. To overcome these issues, some studies proposed the use of FBGs incorporated onto the tool shaft [133] or a transmission mechanism between the endeffector and the joint [130], [134], [135]. For instance, in [133], a 2-DOF needle driver based on four FBGs was developed to be compatible with the Da Vinci Surgical System.…”