Development of a 2-DOF Sensorized Surgical Grasper for Grasping and Axial Force Measurements

Zarrin, Pouya Soltani; Escoto, Abelardo; Xu, Ruidong; Patel, Rajni V.; Naish, Michael D.; Trejos, Ana Luisa

doi:10.1109/jsen.2018.2805327

Cited by 50 publications

(27 citation statements)

References 25 publications

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“…Temperature compensation, axial forces decoupling, bending outward effects, and creep resistance were also evaluated to validate the feasibility of the proposed designs in MIS applications. In [131], a laparoscopic needle driver to measure axial and grasping forces at the grasper tip was proposed. The lower jaw of the grasper was equipped with two FBGs.…”

Section: ) Tissue Manipulationmentioning

confidence: 99%

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

et al. 2020

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In the last decades, fiber Bragg gratings (FBGs) have become increasingly attractive to medical applications due to their unique properties such as small size, biocompatibility, immunity to electromagnetic interferences, high sensitivity and multiplexing capability. FBGs have been employed in the development of surgical tools, assistive devices, wearables, and biosensors, showing great potentialities for medical uses. This paper reviews the FBG-based measuring systems, their principle of work, and their applications in medicine and healthcare. Particular attention is given to sensing solutions for biomechanics, minimally invasive surgery, physiological monitoring, and medical biosensing. Strengths, weaknesses, open challenges, and future trends are also discussed to highlight how FBGs can meet the demands of nextgeneration medical devices and healthcare system. INDEX TERMS biomechanics, biosensing, fiber Bragg grating sensors, minimally invasive surgery, physiological monitoring.

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Section: ) Tissue Manipulationmentioning

confidence: 99%

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

et al. 2020

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“…Zarrin et al [82] developed two sterilizable sensorized needle driver graspers for laparoscopic instruments. Two FBG sensors were mounted in the custom-designed jaws of a grasper to measure axial and grasping force intraoperatively.…”

Section: ) Wavelength Modulation Optical Tactile Sensormentioning

confidence: 99%

Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

2020

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Minimally invasive surgery has been one of the most significant evolutions in medicine. In this approach, the surgeon inserts specially-designed instruments through a small incision on the patient's skin into the body cavities, abdomen, veins or, arteries and performs the surgery on organs. As a major limitation, surgeons lose their natural tactile perception due to indirect touch on the organs. Since the loss of tactile perception compromises the ability of surgeons in tissue distinction and maneuvers, researchers have proposed different tactile sensors. This review is to provide researchers with a literature map for the state-of-the-art of tactile sensors in minimally invasive surgery, e.g. in robotic, laparoscopic, palpation, biopsy, heart ablation, and valvuloplasty. In this regard, the pertinent literature from the year 2000 on sensing principles, design requirements, and specifications were reviewed in this study. The survey showed that size, range, resolution, variation, electrical passivity, and magnetic-resonance-compatibility were the most critical specification to study for tactile sensors. Based on the results, some of the requirements, e.g., magnetic-resonance-compatibility and electrical passivity are of less generality and more applicationdependent; however, size, resolution, and range specifications differ for various applications and are of utmost importance.

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“…Strain gauges are the most common force sensor in industry, and several attempts have been made to introduce them into the field of surgery [13][14][15][16][17][18]. The resistance of a strain gauge varies when the applied force and/or temperature change.…”

Section: Strain Gaugesmentioning

confidence: 99%

“…It is commonly implemented by fabricating a thin structure in a mechanical structure to gain flexure and attaching the strain gauge in the proximity of this flexure. Zarrin et al presented a flexure structure for forceps blades that allows two-degree-of-freedom force sensing by strain gauges [13]. Yu et al presented a strain-gauge-attachable three-dimensional (3D) structure that can be implemented at the tip of a surgical instrument [14].…”

Section: Strain Gaugesmentioning

confidence: 99%

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

et al. 2019

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The ability to sense force in surgery is in high demand in many applications such asforce feedback in surgical robots and remote palpation (e.g., tumor detection in endoscopic surgery).In addition, recording and analyzing surgical data is of substantial value in terms of evidence-basedmedicine. However, force sensing in surgery remains challenging because of the specific requirementsof surgical instruments, namely, they must be small, bio-compatible, sterilizable, and tolerant tonoise. In this study, we propose a modular optic force sensor using a Fabry–Perot interferometer thatcan be used on surgical devices. The the proposed sensor can be implemented like a strain gauge,which is widely used in industrial applications but not compatible with surgery. The proposed sensorincludes two key elements, a fiber-optic pressure sensor using a Fabry–Perot interferometer thatwas previously developed by one of the authors and a structure that includes a carbide pin thatcontacts the pressure sensor along the long axis. These two elements are fixed in a guide channelfabricated in a 3 × 2 × 0.5 mm sensor housing. The experimental results are promising, revealinga linear relationship between the output and the applied load while showing a linear temperaturecharacteristic that suggests temperature compensation will be needed in use.

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Development of a 2-DOF Sensorized Surgical Grasper for Grasping and Axial Force Measurements

Cited by 50 publications

References 25 publications

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review

Tactile Sensors for Minimally Invasive Surgery: A Review of the State-of-the-Art, Applications, and Perspectives

Modular Optic Force Sensor for a Surgical Device Using a Fabry–Perot Interferometer

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