MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures

Polygerinos, Panagiotis; Ataollahi, Asghar; Schaeffter, Tobias; Razavi, Reza; Seneviratne, Lakmal; Althoefer, Kaspar

doi:10.1109/tbme.2010.2095853

Cited by 81 publications

(35 citation statements)

References 11 publications

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“…Particularly in medical robotics, delicate tissue handling, gripping, and mechanical interactions are very important tasks to consider. To permit an object to be effectively handled and manipulated, a robotic hand has to ensure appropriate grasping support and contact force [22], [24], [25]. Several complex mechanical designs, such as anthropomorphic and metamorphic multifingered hands, with the ability to handle complex-shaped objects, have been proposed recently [8], [9].…”

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confidence: 99%

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Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

Ataollahi

Fallah

Seneviratne

et al. 2014

IEEE/ASME Trans. Mechatron.

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This paper presents a novel approach to force sensing by integrating prismatic-tip optical fibers with an orthoplanar spring structure. The complete force sensing solution integrating the prismatic-tip-based sensing concept with an orthoplanar spring mechanism to convert applied forces into a well-delivered displacement whose magnitude can be measured using the optical sensing technique is introduced in this paper. To the best knowledge of the authors, this is the first time that such a force sensing concept has been proposed and studied. The compact force sensor prototype described in this paper demonstrates its capability and feasibility in performing force measurement over a range of 0-2.8 N. The combination of the novel concepts of prismatic-tip optical fiber sensing and the planar spring minimizes the thickness of the sensing device. Due to its simple sensing structure, the sensor is easy to manufacture and can be miniaturized for applications in dexterous robotic handling and the aerospace industry. The proposed sensor is made of nonmetallic materials and operates without the need of electronics components in the sensing area; thus, the sensor is not susceptible to electric or magnetic fields.

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mentioning

confidence: 99%

“…For example, in catheterization procedures, contact force feedback from the catheter-tip during ablation has proven to be useful [25], [32].…”

mentioning

confidence: 99%

Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

Ataollahi

Fallah

Seneviratne

et al. 2014

IEEE/ASME Trans. Mechatron.

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“…Incorporating small-sized force/torque sensors in robot hands and arms has been shown to enhance obstacle avoidance, object grasping, in-hand manipulation and, generally, the meaningful interaction with the physical environment [1,2,3]. Current force measuring sensors show clear shortcomings due to their size, manufacturability, integration incompatibility, sensitivity, measurement range and/or lack of sufficient axes of measurement [4,5,6,7], with direct force measurements clearly outperforming approaches that use remote sensors to indirectly measure forces imparted on the robot structure. …”

Section: Introductionmentioning

confidence: 99%

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

Noh

Bimbo

Sareh

et al. 2016

Sensors

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This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

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“…Various force sensors have been developed for microsurgery, micromanipulation, and MIS [23]–[27]. Handle mounted force sensors [28] cannot distinguish forces exerted at the tool tip from those at the trocar.…”

Section: Introductionmentioning

confidence: 99%

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery

Balicki

Gehlbach

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Robotic systems have the potential to assist vitreoretinal surgeons in extremely difficult surgical tasks inside the human eye. In addition to reducing hand tremor and improving tool positioning, a robotic assistant can provide assistive motion guidance using virtual fixtures, and incorporate real-time feedback from intraocular force sensing ophthalmic instruments to present tissue manipulation forces, that are otherwise physically imperceptible to the surgeon. This paper presents the design of an FBG-based, multi-function instrument that is capable of measuring mN-level forces at the instrument tip located inside the eye, and also the sclera contact location on the instrument shaft and the corresponding contact force. The given information is used to augment cooperatively controlled robot behavior with variable admittance control. This effectively creates an adaptive remote center-of-motion (RCM) constraint to minimize eye motion, but also allows the translation of the RCM location if the instrument is not near the retina. In addition, it provides force scaling for sclera force feedback. The calibration and validation of the multi-function force sensing instrument are presented, along with demonstration and performance assessment of the variable admittance robot control on an eye phantom.

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MRI-Compatible Intensity-Modulated Force Sensor for Cardiac Catheterization Procedures

Cited by 81 publications

References 11 publications

Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

A multi-function force sensing instrument for variable admittance robot control in retinal microsurgery

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