Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems
Haptic feedback and motion tracking are still absent in the Robotic Minimally Invasive Surgery (RMIS). The non-transparency between the master-slave system affects the surgeon's situation awareness and safety assessment during an operation. Therefore, there is a demand for developing mini...
| Main Author: | |
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| Other Authors: | |
| Format: | Thesis-Doctor of Philosophy |
| Language: | English |
| Published: |
Nanyang Technological University
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/150542 |
| _version_ | 1811682559226019840 |
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| author | Lai, Wenjie |
| author2 | Phee Soo Jay, Louis |
| author_facet | Phee Soo Jay, Louis Lai, Wenjie |
| author_sort | Lai, Wenjie |
| collection | NTU |
| description | Haptic feedback and motion tracking are still absent in the Robotic Minimally Invasive
Surgery (RMIS). The non-transparency between the master-slave system affects the
surgeon's situation awareness and safety assessment during an operation. Therefore,
there is a demand for developing miniature sensors to detect the tool-tissue interaction
in surgical robotics. Due to tighter space constraints in the flexible endoscopic robot, it
becomes much more challenging to advance sensors in such a robotic system. The
research aims to develop novel and practical solutions to realize force sensing and pose
sensing for flexible endoscopic surgical robots.
A single-axis force sensor (two versions), an integrated sensor-model approach, a three -axial force sensor have been proposed to capture the distal force in an endoscopic
surgical robot driven by Tendon-Sheath Mechanisms (TSMs). The single-axis force
sensor was integrated with the actuation mechanism, measuring the distal tension force
in real-time, with a sensitivity of 34.14 pm/N. The integrated sensor-model approach
has been validated in a 5-DoF (Degree of Freedom) grasper in both in-vitro tests and an
animal study (in a live porcine). This approach saves cost and space while maintaining
the robustness of the sensing system. Another three-axial force sensor has been further
explored to reflect the tool-tissue interaction forces, with a lateral force sensitivity up to
1757.438 pm/N. Validation tests have been conducted to show its measurement
capability of pulling force (0 N to 6 N), steering force (-3.5 N to 3 N), and lifting force
(-4.5 N to 4.5 N). Besides, real-time forces have been displayed on the surgeon's hand
through the haptic device, Omega7. In addition, a rotation angle sensor (RAS) has been
developed to detect a pivot joint's rotation angle in the articulated surgical grasper, with
a broad measurable range of angles [-47.8°, 39.1°] and a small bending radius down to
6.9 mm.
Apart from flexible endoscopic robots, the single-axis force sensor and the integrated
sensor-model approach can also be applied in TSM-driven or tendon-driven robotic
fingers/hands, wearable devices, surgical catheters, and rehabilitation devices. The
three-axial force sensor can also be shifted to a laparoscopic robot or a catheter, not
limited to the flexible endoscopic surgical robot. The RAS can also be used in
continuum robots or soft robots to detect the large bending deflection. |
| first_indexed | 2024-10-01T03:58:46Z |
| format | Thesis-Doctor of Philosophy |
| id | ntu-10356/150542 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:58:46Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1505422023-03-11T17:53:10Z Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems Lai, Wenjie Phee Soo Jay, Louis Tjin Swee Chuan School of Mechanical and Aerospace Engineering Robotics Research Centre MSJPhee@ntu.edu.sg, ESCTJIN@ntu.edu.sg Engineering::Mechanical engineering::Surgical assistive technology Engineering::Mechanical engineering::Robots Haptic feedback and motion tracking are still absent in the Robotic Minimally Invasive Surgery (RMIS). The non-transparency between the master-slave system affects the surgeon's situation awareness and safety assessment during an operation. Therefore, there is a demand for developing miniature sensors to detect the tool-tissue interaction in surgical robotics. Due to tighter space constraints in the flexible endoscopic robot, it becomes much more challenging to advance sensors in such a robotic system. The research aims to develop novel and practical solutions to realize force sensing and pose sensing for flexible endoscopic surgical robots. A single-axis force sensor (two versions), an integrated sensor-model approach, a three -axial force sensor have been proposed to capture the distal force in an endoscopic surgical robot driven by Tendon-Sheath Mechanisms (TSMs). The single-axis force sensor was integrated with the actuation mechanism, measuring the distal tension force in real-time, with a sensitivity of 34.14 pm/N. The integrated sensor-model approach has been validated in a 5-DoF (Degree of Freedom) grasper in both in-vitro tests and an animal study (in a live porcine). This approach saves cost and space while maintaining the robustness of the sensing system. Another three-axial force sensor has been further explored to reflect the tool-tissue interaction forces, with a lateral force sensitivity up to 1757.438 pm/N. Validation tests have been conducted to show its measurement capability of pulling force (0 N to 6 N), steering force (-3.5 N to 3 N), and lifting force (-4.5 N to 4.5 N). Besides, real-time forces have been displayed on the surgeon's hand through the haptic device, Omega7. In addition, a rotation angle sensor (RAS) has been developed to detect a pivot joint's rotation angle in the articulated surgical grasper, with a broad measurable range of angles [-47.8°, 39.1°] and a small bending radius down to 6.9 mm. Apart from flexible endoscopic robots, the single-axis force sensor and the integrated sensor-model approach can also be applied in TSM-driven or tendon-driven robotic fingers/hands, wearable devices, surgical catheters, and rehabilitation devices. The three-axial force sensor can also be shifted to a laparoscopic robot or a catheter, not limited to the flexible endoscopic surgical robot. The RAS can also be used in continuum robots or soft robots to detect the large bending deflection. Doctor of Philosophy 2021-06-23T01:05:13Z 2021-06-23T01:05:13Z 2021 Thesis-Doctor of Philosophy Lai, W. (2021). Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/150542 https://hdl.handle.net/10356/150542 10.32657/10356/150542 en National Research Foundation (NRF) Singapore (NRFI2016-07) This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0). application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Surgical assistive technology Engineering::Mechanical engineering::Robots Lai, Wenjie Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title | Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title_full | Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title_fullStr | Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title_full_unstemmed | Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title_short | Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems |
| title_sort | fibre bragg grating fbg based force and pose sensing for endoscopic robotic systems |
| topic | Engineering::Mechanical engineering::Surgical assistive technology Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/150542 |
| work_keys_str_mv | AT laiwenjie fibrebragggratingfbgbasedforceandposesensingforendoscopicroboticsystems |