Design and Experimental Validation of a Fiber Bragg Grating-Enabled Force Sensor With an Ortho-Planar Spring-Based Flexure for Surgical Needle Insertion

Shi, Chaoyang; Tang, Zhongxin; Wang, Shuxin

doi:10.1109/tmrb.2021.3073198

Cited by 23 publications

(6 citation statements)

References 30 publications

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“…This demonstrates that the operating temperature of the system remains within safe limits. Furthermore, future work will also explore implementing fiber Bragg grating (FBG)-based real-time detection of electromagnet temperatures, aiming to enhance safety measures [ 33 , 34 ].…”

Section: Discussionmentioning

confidence: 99%

A Novel Electromagnetic Driving System for 5-DOF Manipulation in Intraocular Microsurgery

Liu,

Song,

Zhang

et al. 2024

Cyborg Bionic Syst

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This work presents a novel electromagnetic driving system that consists of eight optimized electromagnets arranged in an optimal configuration and employs a control framework based on an active disturbance rejection controller (ADRC) and virtual boundary. The optimal system configuration enhances the system’s compatibility with other ophthalmic surgical instruments, while also improving its capacity to generate magnetic force in the vertical direction. Besides, the optimal electromagnet parameters provide a superior comprehensive performance on magnetic field generation capacity and thermal power. Hence, the presented design achieves a stronger capacity for sustained work. Furthermore, the ADRC controller effectively monitors and further compensates the total disturbance as well as gravity to enhance the system’s robustness. Meanwhile, the implementation of virtual boundaries substantially enhances interactive security via collision avoidance. The magnetic and thermal performance tests have been performed on the electromagnet to verify the design optimization. The proposed electromagnet can generate a superior magnetic field of 2.071 mT at a distance of 65 mm with an applied current of 1 A. Moreover, it demonstrates minimal temperature elevation from room temperature (25 °C) to 46 °C through natural heat dissipation in 3 h, thereby effectively supporting prolonged magnetic manipulation of intraocular microsurgery. Furthermore, trajectory tracking experiments with disturbances have been performed in a liquid environment similar to the practical ophthalmic surgery scenarios, to verify the robustness and security of the presented control framework. The maximum root mean square (RMS) error of performance tests in different operation modes remains 35.8 μm, providing stable support for intraocular microsurgery.

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Section: Discussionmentioning

confidence: 99%

A Novel Electromagnetic Driving System for 5-DOF Manipulation in Intraocular Microsurgery

Liu,

Song,

Zhang

et al. 2024

Cyborg Bionic Syst

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“…Both phantom and animal experiments have been conducted to demonstrate its advantages of an easy-to-use manner, shortened learning curve, and enhanced comfort for the legs and waist of surgeons, demonstrating its potentials for clinical applications. Future work also involves applying fiber Bragg grating-based force- and shape-sensing techniques to enable force feedback and closed-loop control for accurate operations [ 35 , 36 ], as well as 5G-enabled teleoperation [ 37 ].…”

Section: Discussionmentioning

confidence: 99%

Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

Zhao

Cui

et al. 2021

Applied Bionics and Biomechanics

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Flexible ureteroscopy (FURS) has been developed and has become a preferred routine procedure for both diagnosis and treatment of kidney stones and other renal diseases inside the urinary tract. The traditional manual FURS procedure is highly skill-demanding and easily brings about physical fatigue and burnout for surgeons. The improper operational ergonomics and fragile instruments also hinder its further development and patient safety enhancement. A robotic system is presented in this paper to assist the FURS procedure. The system with a master-slave configuration is designed based on the requirement analysis in manual operation. A joint-to-joint mapping strategy and several control strategies are built to realize intuitive and safe operations. Both phantom and animal experiments validate that the robot has significant advantages over manual operations, including the easy-to-use manner, reduced intraoperative time, and improved surgical ergonomics. The proposed robotic system can solve the major drawbacks of manual FURS. The test results demonstrate that the robot has great potential for clinical applications.

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“…The force-sensing instrument can provide surgeons with imperceptible force information, thereby improving the safety of retinal microsurgery. Shi et al [22] designed a high-precision fiber optic Bragg grating sensor for detecting axial forces between the needle and the tissue during punctures. The sensor consists mainly of two orthogonal planar springs arranged in parallel, a suspended FBG fiber, and a handheld sensor frame.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Force Sensor Based on Fiber Bragg Grating for Medical Puncture Robot

Lin

Pang

et al. 2022

Photonics

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In medical puncture robots, visible light, infrared and ultrasound images are currently used to guide punctures. The lack of information about the interaction forces between the puncture needle and soft tissue in different directions during the puncture process can easily lead to soft tissue being damaged. The current three-dimensional force sensors are large and can only be mounted on the base of the puncture needle, which does not allow for easy integration. Moreover, the force transfer to the base introduces various disturbing forces and the measurement accuracy is low. To reduce the risk of soft tissue being damaged and to enhance the intelligent control strategy of the puncture robot, this paper designs a three-dimensional force sensor based on fiber Bragg gratings. The sensor is very small and can be integrated into the back end of the puncture needle to accurately measure the interaction forces between the puncture needle and the soft tissue in different directions. The puncture needle wall is designed with notched bending of a multilayer continuous beam, which can increase the sensitivity of axial stiffness, while maintaining the sensitivity of the sensor to lateral bending and torsion, and also reduce the crosstalk between the axial and lateral forces. The finite element method is used to optimize its structural parameters, and a BP neural network based on the global optimal fitness function is proposed to solve the decoupling problem between the three-dimensional forces, which effectively improves the detection accuracy of the force sensor. The experimental results show that the measurement error of the sensor is less than 1.5%, which can accurately measure the interaction force between the puncture needle and the soft tissue and improve the safety of the puncture process.

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Design and Experimental Validation of a Fiber Bragg Grating-Enabled Force Sensor With an Ortho-Planar Spring-Based Flexure for Surgical Needle Insertion

Cited by 23 publications

References 30 publications

A Novel Electromagnetic Driving System for 5-DOF Manipulation in Intraocular Microsurgery

A Novel Electromagnetic Driving System for 5-DOF Manipulation in Intraocular Microsurgery

Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

Three-Dimensional Force Sensor Based on Fiber Bragg Grating for Medical Puncture Robot

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