Impedance control of a robot needle with a fiber optic force sensor

Xiao, Lifang; Yang, Tao; Huo, Benyan; Zhao, Xingang; Han, Jianda; Wang, Xu

doi:10.1109/icsp.2016.7878052

Cited by 9 publications

(7 citation statements)

References 13 publications

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“…Impedance control can also be applied to all kinds of mechanical manipulations, especially those require the controllable interaction forces. These manipulations involve industrial robots, 37,[122][123][124][125] micromanipulation, 66,[126][127][128] cell manipulation, 127 teleoperation, [158][159][160] medicalsurgical robots, 161,162 agricultural grippers, 163 aerial manipulation, [164][165][166] underwater manipulation, 167 service robots, 168 and so on.…”

Section: Mechanical Manipulationmentioning

confidence: 99%

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A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song¹,

Yu²,

Zhang

2019

Robotica

118

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SummaryThere have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.

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Section: Mechanical Manipulationmentioning

confidence: 99%

“…Impedance control is also applied to some special operating equipment, such as teleoperators, [158][159][160] surgical robots, 161,162 agricultural grippers, 163 and so on. Based on the master-slave architecture, the time delay problems of telerobots 158 were alleviated by impedance control.…”

Section: Other Manipulationmentioning

confidence: 99%

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song¹,

Yu²,

Zhang

2019

Robotica

118

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“…Researchers have used Da Vinci robotic kit and proposed closed loop control for simulating minimally invasive suturing [16]. Similarly, Xiao et al designed a robotic prototype for surgical needle insertion integrated with fibre optic force sensor and reported insertion force results [17]. Another research study [18] presented a model of needle tissue inter-linkage while analyzing tissue puncturing as a function of tissue deformation using a 6 DOF force sensor.…”

Section: Introductionmentioning

confidence: 99%

“…This force then reduces sharply and the frictional force retains as penetration depth increases w.r.t. time [19]. Due to high cost of the force meter, most of the local medical entities are unable to utilize it thereby needing a cheaper in-house solution for quality assurance.…”

Section: Introductionmentioning

confidence: 99%

Estimation of Surgical Needle Insertion Force Using Kalman Filter

Jafri

Ali

Iqbal

2020

J. Electr. Eng. Technol.

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This paper presents a novel low-cost technique to measure the insertion force of a surgical needle on a testing surface to check needle strength. A combination of a load cell with a current sensor for a linear DC motor has been used to estimate the insertion force based on Kalman Filter (KF). The custom-designed and in-house fabricated system to estimate the insertion force comprises of the motor coupled with a vertically articulated arm. The needle to be tested is mounted at the end of the arm. Movement of the arm has been controlled electronically to produce the insertion force by the needle to a testing surface. The sensory measurement data generated during this process has been collected using Arduino based embedded electronic hardware. The KF based proposed strategy has been validated using the developed system by conducting various tests with different needles. Results in the form of penetration force and friction force have been experimentally observed and are then compared with standard force meters. Comparative analysis witnesses efficiency of the proposed approach.

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“…With optical technology, high precision and resolution can be achieved by using optical fiber sensors, which rely on determining the distortion produced in the fiber due to an external load. This strain may be measured with multiple techniques, such as Fabry–Perot interferometers [ 17 , 18 ] or Bragg gratings [ 19 , 20 ]. These solutions have potential applications in high performance applications and are not affected by the electromagnetic fields produced by actuators or medical instrumentation; however, they might result in being too expensive for most wearable applications.…”

Section: Introductionmentioning

confidence: 99%

Customizable Optical Force Sensor for Fast Prototyping and Cost-Effective Applications

Díez

Catalán

Blanco

et al. 2018

Sensors

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This paper presents the development of an optical force sensor architecture directed to prototyping and cost-effective applications, where the actual force requirements are still not well defined or the most suitable commercial technologies would highly increase the cost of the device. The working principle of this sensor consists of determining the displacement of a lens by measuring the distortion of a refracted light beam. This lens is attached to an elastic interface whose elastic constant is known, allowing the estimation of the force that disturbs the optical system. In order to satisfy the requirements of the design process in an inexpensive way, this sensor can be built by fast prototyping technologies and using non-optical grade elements. To deal with the imperfections of this kind of manufacturing procedures and materials, four fitting models are proposed to calibrate the implemented sensor. In order to validate the system, two different sensor implementations with measurement ranges of ±45 N and ±10 N are tested with the proposed models, comparing the resulting force estimation with respect to an industrial-grade load cell. Results show that all models can estimate the loads with an error of about 6% of the measurement range.

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Impedance control of a robot needle with a fiber optic force sensor

Cited by 9 publications

References 13 publications

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Estimation of Surgical Needle Insertion Force Using Kalman Filter

Customizable Optical Force Sensor for Fast Prototyping and Cost-Effective Applications

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