Force Sensing With 1 mm Fiber Bragg Gratings for Flexible Endoscopic Surgical Robots

Lai, Wenjie; Cao, Lin; Tan, Rex Xiao; Phan, Phuoc Thien; Hao, Jianzhong; Tjin, Swee Chuan; Phee, Soo Jay

doi:10.1109/tmech.2019.2951540

Cited by 58 publications

(23 citation statements)

References 47 publications

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“…Distal contact force, pressure mapping, and tactile distributions were some of the main measured parameters. For instance, nitinol tubes equipped with two FBGs for detecting the distal force of tendon-sheath mechanisms in flexible endoscopic robotic surgery were proposed in [138], [139]. The main differences between the two versions are related to the overall length of the nitinol tube (reduced from 6 mm to 3mm) and to the grating length (reduced from 4 mm to 1 mm).…”

Section: ) Tissue Manipulationmentioning

confidence: 99%

“…Results showed linear responses of the two FBGs to force and temperature. Issues related to temperature compensation and creeping effect, as well as signal noise associated to improper glues were fulfilled in [138], and ex-vivo and in-vitro tests were performed to assess its functionality. Results showed a stable response with good linearity within the range of 0.1 N -0.5 N with a percentage error of 4.19% between the measured and the theoretically estimated values.…”

Section: ) Tissue Manipulationmentioning

confidence: 99%

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

et al. 2020

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In the last decades, fiber Bragg gratings (FBGs) have become increasingly attractive to medical applications due to their unique properties such as small size, biocompatibility, immunity to electromagnetic interferences, high sensitivity and multiplexing capability. FBGs have been employed in the development of surgical tools, assistive devices, wearables, and biosensors, showing great potentialities for medical uses. This paper reviews the FBG-based measuring systems, their principle of work, and their applications in medicine and healthcare. Particular attention is given to sensing solutions for biomechanics, minimally invasive surgery, physiological monitoring, and medical biosensing. Strengths, weaknesses, open challenges, and future trends are also discussed to highlight how FBGs can meet the demands of nextgeneration medical devices and healthcare system. INDEX TERMS biomechanics, biosensing, fiber Bragg grating sensors, minimally invasive surgery, physiological monitoring.

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Section: ) Tissue Manipulationmentioning

confidence: 99%

Section: ) Tissue Manipulationmentioning

confidence: 99%

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

et al. 2020

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“…In medical practice, a surgeon inserts a catheter through a small opening (Ashwin and Ghosal, 2019;Hu et al, 2019;Lai et al, 2019;Sikorski et al, 2019) using a guide wire (Bruthans and Trča, 2019;Işık, 2019;Komiyama et al, 2019). First, the surgeon inserts the guide wire into the opening, and then inserts the catheter into the guide wire.…”

Section: Related Workmentioning

confidence: 99%

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Miura¹,

Nakagami

Parque

et al. 2020

Mechanical Engineering Journal

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Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines 1. Introduction Pipelines are indispensable for supplying resources to cities and homes (Takeshima and Takayama, 2018; Y. Li et al., 2019). In Japan, the underground gas pipeline extends for more than 1.5 billion km (Gas Pipe Overview, 2018). Generally, gas is sent through main pipes under the public road and branches into external gas pipes at residential sites (Fig. 1). The main pipes are of size "50A" (diameter: 52.9 mm), whereas the external gas pipes are of size "25A" (diameter: 27.6 mm) (Gas Pipe Overview, 2018). External gas pipes have four sets of two turns consisting of a bend and an elbow (Gas Pipe Overview, 2018). The total length of an external pipe is about 7.0 m. Because these pipes are installed underground, they are not being maintained. Therefore, corrosion often appears inside the pipes as they age (Cole and Marney, 2012). The most widespread method of inspecting the interior of a gas pipe is visual inspection using an endoscope. One example is using a flexible microscope, as shown in Fig. 2. The operator uses the hand console to manipulate the tip with the microscope camera. However, it is impossible to insert a microscope into a buried pipe because the microscope buckles and stops in the pipe. Thus, when an accident occurs at an external gas pipeline, the buried pipes are dug up randomly until the staff finds the causes. This requires stopping the gas flow and digging up the branch pipe extending from the load (Ogai and Bhattacharya, 2018). The entire process takes more than 1 day, and the gas cannot be used while the pipes are being inspected. Furthermore, digging up and refilling the load has a high cost, which includes personal expenditure and catering (Cole and Marney, 2012).

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“…In endoscopic surgery, the endoscope is a carrier with a camera that providing both movement and view [138]. The navigation of the endoscope transports the surgical instruments to the target operation areas and facilitates their manipulation.…”

Section: Task and Control Schemesmentioning

confidence: 99%

“…Tendon-driven mechanisms have the inherent drawback of backlash due to the slacking and elongation of the tendons, friction at the joint, etc. [138], [148], [149]. The robotic grasper and hook thus used an antagonistic system of cables for each bending DoF with adjustable pretension to reduce the backlash.…”

Section: Robotic System Motion Control Studymentioning

confidence: 99%

Development of an intuitive foot-machine interface for robotic surgery

Huang¹

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In robotic surgery, the surgeon controls the surgical robot through human-machine interfaces. The most common interfaces are for hands so that the surgeon can only control at most two robotic instruments at one time while three or more instruments may be needed at the same time in some procedures, e.g., robotic endoscopic/laparoscopic surgery. Current practices to these cases, i.e., having one assistant control the additional instrument, is not ideal because fine collaboration between the surgeon and the assistant is required, and delayed actions and even safety issues due to communication errors may occur. These limitations can be avoided if the surgeon could control all the tools on his/her own simultaneously. This thesis work developed a novel foot-controlled human-machine interface, enabling the surgeon to control the additional robotic surgical tool using the foot, together with the two tools that are controlled by the hands. This foot-controlled interface controls a robotic surgical instrument in continuous direction and speed based on the motion of the foot in four degrees of freedom (DoFs), i.e., foot left/right translation, forward/backward translation, lateral/medial rotation, and toe-up/down rotation. The foot force/position signals are collected through eight feedback-sensing modules of the interface surrounding the foot. Each feedback-sensing module consists of a spring and a load cell. The foot's position can be determined by the deformation of the springs which is calculated based on the forces measured by the load cells. The whole foot operation is separated into elastic and isometric modes. In the elastic mode, the springs are not fully compressed and thus the foot can move freely with reaction forces from the springs (i.e., passive force feedback); in the isometric mode, the foot's motion is limited by the boundary (some springs are fully compressed) but its force is not limited and thus can still be used for output commands. The seamless transition between the two modes provides the user with rich proprioceptive information and meanwhile enlarges input ranges that are limited only by his/her strength. The interface also features a singularityfree workspace with a neutral central home position. The weight of the foot is well supported, and the friction of the interface is minimized to limit operation fatigue.i An analytical model based on the kinematics and statics of the foot interface was derived for output command calculation; however, this model does not consider the distinct motion behaviors of different users. Therefore, a data-driven mapping approach using independent component analysis was proposed to adapt the interface to the specific user's motion pattern, which effectively reduces the deviation between users.Three studies were conducted on the developed interface: (1) Controlling of an industrial robotic arm for path-tracking and button-pressing tasks and comparison to a foot button interface. The proposed interface was about 30% faster and 60% smoother than a conventional foot butto...

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Force Sensing With 1 mm Fiber Bragg Gratings for Flexible Endoscopic Surgical Robots

Cited by 58 publications

References 47 publications

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

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

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Development of an intuitive foot-machine interface for robotic surgery

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