A three-axial force sensor based on Fiber Bragg Gratings for surgical robots
Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work,...
| Main Authors: | , , , , |
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| Format: | Journal Article |
| Language: | English |
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2021
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| Online Access: | https://hdl.handle.net/10356/147783 |
| _version_ | 1811681620507230208 |
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| author | Lai, Wenjie Cao, Lin Liu, Jiajun Tjin, Swee Chuan Phee, Soo Jay |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Lai, Wenjie Cao, Lin Liu, Jiajun Tjin, Swee Chuan Phee, Soo Jay |
| author_sort | Lai, Wenjie |
| collection | NTU |
| description | Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work, we addressed this challenge by proposing a new three-axial force sensor. This standalone device can be seamlessly integrated into the endoscopic robotic arm. Three optical fibers with Fiber Bragg Gratings (FBGs) are embedded in the sensing structure, where one is located at the center hole of the structure (⌀ 1.4 mm), and the other two are eccentrically placed around the structure at 90° apart from each other. This device can measure the pulling force and lateral forces of an articulated surgical instrument. Mechanics analysis has been studied to reveal the link between FBGs’ wavelength shifts and forces caused by the elongation and the bending, with a temperature-compensation feature. The sensor has a lateral force sensitivity of 838.386 pm/N, with a measurement resolution of 1.19 mN. Performance comparison with a commercial force sensor Nano17 was made, with measurement errors from 4.50% to 6.18%. In the ex-vivo tests, we teleoperated the sensorized grasper to pull, steer and lift a piece of pig colon tissue. The tool-tissue interaction forces measured by the force sensor were displayed on the computer screen in real-time. In addition to the endoscopic robots, the force sensor can also be integrated with other surgical robots such as laparoscopic robots and catheters. |
| first_indexed | 2024-10-01T03:43:50Z |
| format | Journal Article |
| id | ntu-10356/147783 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:43:50Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1477832023-03-04T17:23:33Z A three-axial force sensor based on Fiber Bragg Gratings for surgical robots Lai, Wenjie Cao, Lin Liu, Jiajun Tjin, Swee Chuan Phee, Soo Jay School of Mechanical and Aerospace Engineering Robotics Research Centre Engineering::Mechanical engineering::Robots Force Sensor Haptic Feedback Fiber Bragg Gratings Surgical Robots Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work, we addressed this challenge by proposing a new three-axial force sensor. This standalone device can be seamlessly integrated into the endoscopic robotic arm. Three optical fibers with Fiber Bragg Gratings (FBGs) are embedded in the sensing structure, where one is located at the center hole of the structure (⌀ 1.4 mm), and the other two are eccentrically placed around the structure at 90° apart from each other. This device can measure the pulling force and lateral forces of an articulated surgical instrument. Mechanics analysis has been studied to reveal the link between FBGs’ wavelength shifts and forces caused by the elongation and the bending, with a temperature-compensation feature. The sensor has a lateral force sensitivity of 838.386 pm/N, with a measurement resolution of 1.19 mN. Performance comparison with a commercial force sensor Nano17 was made, with measurement errors from 4.50% to 6.18%. In the ex-vivo tests, we teleoperated the sensorized grasper to pull, steer and lift a piece of pig colon tissue. The tool-tissue interaction forces measured by the force sensor were displayed on the computer screen in real-time. In addition to the endoscopic robots, the force sensor can also be integrated with other surgical robots such as laparoscopic robots and catheters. National Research Foundation (NRF) This work was supported by National Research Foundation (NRF) Singapore (NRFI2016-07). 2021-12-08T13:26:20Z 2021-12-08T13:26:20Z 2021 Journal Article Lai, W., Cao, L., Liu, J., Tjin, S. C. & Phee, S. J. (2021). A three-axial force sensor based on Fiber Bragg Gratings for surgical robots. IEEE/ASME Transactions On Mechatronics. https://dx.doi.org/10.1109/TMECH.2021.3071437 1083-4435 https://hdl.handle.net/10356/147783 10.1109/TMECH.2021.3071437 en NRFI2016-07 IEEE/ASME Transactions on Mechatronics © 2021 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/TMECH.2021.3071437. application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Force Sensor Haptic Feedback Fiber Bragg Gratings Surgical Robots Lai, Wenjie Cao, Lin Liu, Jiajun Tjin, Swee Chuan Phee, Soo Jay A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title | A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title_full | A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title_fullStr | A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title_full_unstemmed | A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title_short | A three-axial force sensor based on Fiber Bragg Gratings for surgical robots |
| title_sort | three axial force sensor based on fiber bragg gratings for surgical robots |
| topic | Engineering::Mechanical engineering::Robots Force Sensor Haptic Feedback Fiber Bragg Gratings Surgical Robots |
| url | https://hdl.handle.net/10356/147783 |
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