Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments
Yue, Li1; Zhangwenlong, Gao2; Jian, Hu3,4; Danqian, Cao1; Prokar, Dasgupta5,6; Hongbin, Liu1,3,4
Source PublicationIEEE Robotics and Automation Letters
Pages1604 - 1611

Force feedback is of importance inMinimally Invasive Surgery (MIS) as it reduces surgical risks and enhances surgical safety. However, equipping force sensing to the tip of surgical instruments presents challenges due to their diminutive dimensions and often curved shapes. To address this issue, a novel and compact optical-based 3-Axial force sensor used for the surgical forceps is proposed. Based on the extent of disruption to the total internal reflection (TIR), the magnitude and the direction of the force can be detected by measuring the light intensity patterns from three intersecting channels. The calibration experiments validate the capability of the proposed sensor to accurately measure forces within the range of 0 to 3 N, achieving an average measurement error of 0.089N. Subsequently, the sensor, along with the detection circuit, are integrated onto a surgical forcep, and verification experiments are conducted. The results indicate that the proposed sensor can provide effective 3-Axial force sensing during the surgical process such as grasping, manipulation, and pulling. The characteristics of compact size, high precision, and integrability of the sensor make it highly promising for providing force feedback in MIS.

Sub direction classification智能传感器
planning direction of the national heavy laboratory其他
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Document Type期刊论文
Corresponding AuthorHongbin, Liu
Affiliation1.School of Biomedical Engineering & Imaging Sciences, King’s College London, SE1 7EH London, U.K.
2.School of Mechanical Engineering, University College London, WC1E 6BT London, U.K
3.Institute of Automation (CASIA), Chinese Academy of Sciences, Beijing 100045, China
4.Centre of AI and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences
5.MRC Centre for Transplantation, NIHR Biomedical Research Centre, King’s College London, SE1 7EH London, U.K
6.Guy’s and St. Thomas’ NHS Foundation Trust, Urology, SE1 7EH London, U.K.
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yue, Li,Zhangwenlong, Gao,Jian, Hu,et al. Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments[J]. IEEE Robotics and Automation Letters,2023:1604 - 1611.
APA Yue, Li,Zhangwenlong, Gao,Jian, Hu,Danqian, Cao,Prokar, Dasgupta,&Hongbin, Liu.(2023).Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments.IEEE Robotics and Automation Letters,1604 - 1611.
MLA Yue, Li,et al."Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments".IEEE Robotics and Automation Letters (2023):1604 - 1611.
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