Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots
Accurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for...
| Main Authors: | , , , , , |
|---|---|
| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2020
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/137867 |
| _version_ | 1826112837864390656 |
|---|---|
| author | Lai, Wenjie Cao, Lin Xu, Zhilin Phan, Phuoc Thien Shum, Ping Phee, Soo Jay |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Lai, Wenjie Cao, Lin Xu, Zhilin Phan, Phuoc Thien Shum, Ping Phee, Soo Jay |
| author_sort | Lai, Wenjie |
| collection | NTU |
| description | Accurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for the first time, proposes to measure the compression force on the sheath at the distal end so that the tension force on the tendon, which equals the compression force on the sheath, can be obtained. A new force sensor, i.e., a nitinol tube attached with an optical Fiber Bragg Grating (FBG) fiber, is proposed to measure the compression force on the sheath. This sensor, with similar diameter and configuration (hollow) as the sheath, can be compactly integrated with TSMs and surgical end-effectors. In this paper, mechanics analysis and verification tests are presented to reveal the relationship between the tension force on the tendon and the compression force on the sheath. The proposed force sensor was calibrated in tests with a sensitivity of 24.28 pm/N and integrated with a tendon-sheath driven grasper to demonstrate the effectiveness of the proposed approach and sensor. The proposed approach and sensor can also be applied for a variety of TSMs-driven systems, such as robotic fingers/hands, wearable devices, and rehabilitation devices. |
| first_indexed | 2024-10-01T03:13:39Z |
| format | Conference Paper |
| id | ntu-10356/137867 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:13:39Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1378672023-03-04T17:07:11Z Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots Lai, Wenjie Cao, Lin Xu, Zhilin Phan, Phuoc Thien Shum, Ping Phee, Soo Jay School of Electrical and Electronic Engineering School of Mechanical and Aerospace Engineering 2018 IEEE International Conference on Robotics and Automation (ICRA) Center for Optical Fiber Technology Robotics Research Centre Engineering::Mechanical engineering::Robots Haptic Sensing Fiber Bragg Gratings Accurate haptic feedback is a critical challenge for surgical robots, especially for flexible endoscopic surgical robots whose transmission systems are Tendon-Sheath Mechanisms (TSMs) with highly nonlinear friction profiles and force hysteresis. For distal end haptic sensing of TSMs, this paper, for the first time, proposes to measure the compression force on the sheath at the distal end so that the tension force on the tendon, which equals the compression force on the sheath, can be obtained. A new force sensor, i.e., a nitinol tube attached with an optical Fiber Bragg Grating (FBG) fiber, is proposed to measure the compression force on the sheath. This sensor, with similar diameter and configuration (hollow) as the sheath, can be compactly integrated with TSMs and surgical end-effectors. In this paper, mechanics analysis and verification tests are presented to reveal the relationship between the tension force on the tendon and the compression force on the sheath. The proposed force sensor was calibrated in tests with a sensitivity of 24.28 pm/N and integrated with a tendon-sheath driven grasper to demonstrate the effectiveness of the proposed approach and sensor. The proposed approach and sensor can also be applied for a variety of TSMs-driven systems, such as robotic fingers/hands, wearable devices, and rehabilitation devices. NRF (Natl Research Foundation, S’pore) Accepted version 2020-04-17T01:33:56Z 2020-04-17T01:33:56Z 2018 Conference Paper Lai, W., Cao, L., Xu, Z., Phan, P. T., Shum, P., & Phee, S. J. (2018). Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots. Proceedings of 2018 IEEE International Conference on Robotics and Automation (ICRA), 5349-5355. doi:10.1109/ICRA.2018.8461090 9781538630815 https://hdl.handle.net/10356/137867 10.1109/ICRA.2018.8461090 2-s2.0-85059598019 5349 5355 en © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/ICRA.2018.8461090 application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Haptic Sensing Fiber Bragg Gratings Lai, Wenjie Cao, Lin Xu, Zhilin Phan, Phuoc Thien Shum, Ping Phee, Soo Jay Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title | Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title_full | Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title_fullStr | Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title_full_unstemmed | Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title_short | Distal end force sensing with optical fiber Bragg gratings for tendon-sheath mechanisms in flexible endoscopic robots |
| title_sort | distal end force sensing with optical fiber bragg gratings for tendon sheath mechanisms in flexible endoscopic robots |
| topic | Engineering::Mechanical engineering::Robots Haptic Sensing Fiber Bragg Gratings |
| url | https://hdl.handle.net/10356/137867 |
| work_keys_str_mv | AT laiwenjie distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots AT caolin distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots AT xuzhilin distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots AT phanphuocthien distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots AT shumping distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots AT pheesoojay distalendforcesensingwithopticalfiberbragggratingsfortendonsheathmechanismsinflexibleendoscopicrobots |