Development of a Distal Tri-Axial Force Sensor for Minimally Invasive Surgical Palpation

Tang, Zhongxin; Wang, Shuxin; Li, Ming; Shi, Chaoyang

doi:10.1109/tmrb.2022.3142361

Cited by 34 publications

(14 citation statements)

References 43 publications

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“…The sensor’s working principle is based on a helical spring flexure. There are several benefits associated with the use of a helical spring flexural design as compared with other flexural designs, e.g., parallel hinged flexures combined with leaf springs ( Gao et al., 2018 ) or multi-hinged and multi-component flexures ( Tang et al., 2022 ). These include: 1) reduced number of flexural components, 2) simplicity of manufacturing and assembly, 3) simplicity of dimensioning, i.e., scalability, 4) larger flexural axi-symmetry, and 5) design based on known and well-established spring theory.…”

Section: Discussionmentioning

confidence: 99%

“…The multi-component flexural design, as proposed in the designs of Gao et al. (2018) ; Tang et al. (2022) , however, does provide the benefit of independent dimensioning and customization of the lateral and longitudinal flexures.…”

Section: Discussionmentioning

confidence: 99%

“…These include: 1) reduced number of flexural components, 2) simplicity of manufacturing and assembly, 3) simplicity of dimensioning, i.e., scalability, 4) larger flexural axi-symmetry, and 5) design based on known and well-established spring theory. The multi-component flexural design, as proposed in the designs of Gao et al (2018); Tang et al (2022), however, does provide the benefit of independent dimensioning and customization of the lateral and longitudinal flexures. In our proposed design, the helical spring flexure is combined with a FBG-inscribed MCF.…”

Section: Discussionmentioning

confidence: 99%

See 2 more Smart Citations

Three-dimensional catheter tip force sensing using multi-core fiber Bragg gratings

Al-Ahmad

Ourak

Vlekken³

et al. 2023

Front. Robot. AI

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Awareness of catheter tip interaction forces is a crucial aspect during cardiac ablation procedures. The most important contact forces are the ones that originate between the catheter tip and the beating cardiac tissue. Clinical studies have shown that effective ablation occurs when contact forces are in the proximity of 0.2 N. Lower contact forces lead to ineffective ablation, while higher contact forces may result in complications such as cardiac perforation. Accurate and high resolution force sensing is therefore indispensable in such critical situations. Accordingly, this work presents the development of a unique and novel catheter tip force sensor utilizing a multi-core fiber with inscribed fiber Bragg gratings. A customizable helical compression spring is designed to serve as the flexural component relaying external forces to the multi-core fiber. The limited number of components, simple construction, and compact nature of the sensor makes it an appealing solution towards clinical translation. An elaborated approach is proposed for the design and dimensioning of the necessary sensor components. The approach also presents a unique method to decouple longitudinal and lateral force measurements. A force sensor prototype and a dedicated calibration setup are developed to experimentally validate the theoretical performance. Results show that the proposed force sensor exhibits 7.4 mN longitudinal resolution, 0.8 mN lateral resolution, 0.72 mN mean longitudinal error, 0.96 mN mean lateral error, a high repeatability, and excellent decoupling between longitudinal and lateral forces.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Three-dimensional catheter tip force sensing using multi-core fiber Bragg gratings

Al-Ahmad

Ourak

Vlekken³

et al. 2023

Front. Robot. AI

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“…These merits support their applications for the serial chain robotic systems to automatically obtain the governing equations and address the laborious and complicated issues for kinematics and dynamics under complex scenarios, which can be further applied to the proposed flexible manipulator with a serial chain of the vertebrae in the future. The developed proximal and distal force sensor designs and fiber Bragg grating (FBG)-based shape sensing techniques in our previous work will also be further integrated with the flexible manipulator to provide force feedback and enable closed-loop control [37,38].…”

Section: E Discussionmentioning

confidence: 99%

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Song

et al. 2023

IEEE Trans. Med. Robot. Bionics

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This work proposes a novel flexible manipulator consisting of a series of 2-DOF vertebrae based on a ball-andsocket joint that is connected by a ball-shaped surface and a cupshaped socket and constrained by pins for circumferential rotation. This manipulator can demonstrate outstanding torsional stiffness since the circumferential rotation between the vertebrae is constrained by four ball pins. The point contact between ball pins and guideways effectively reduces the friction between the vertebrae, thus allowing the designed manipulator to yield a smooth bending shape with constant curvature. This manipulator features high axial and torsional stiffness, excellent bending performance, sufficient loading capacity, and convenient integration with surgical instruments. Moreover, the excellent torsional stiffness enables this manipulator to efficiently transfer torque and be applied in in-situ torsional motion, effectively addressing the typical issue of limited dexterity for torsional motion. The kinematic modeling of the proposed manipulator under in-situ torsional motion has been derived, and its workspace has been analyzed. A robotic system has been assembled, and experiments have verified the proposed design and modeling validity. The results show that the maximum position errors in bending motion are 2.39% (horizontal direction) and 1.98% (vertical direction), and its torsional stiffness is 21.13N•mm/deg, which is 46 times higher than that of a typical spherical flexible manipulator (SFM). Such merits support this manipulator excellently performing the in-situ torsional motion with a maximum average position error of 3.58%. Furthermore, a phantom test of the larynx has been performed to verify the potential of clinical feasibility.

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“…Also, the high flexibility of the optical fiber allows it to be integrated with delicate devices with minimal effect on the instrument stiffness. These distinctive advantages of FBG fibers have prompted their employment in many applications, including shape sensing of steerable interventional needles [47], [48], navigation of medical devices [49], and force sensing of surgical instruments [50], [51]. Another advantage is that it can achieve real-time shape reconstruction with high updating frequency (>100 Hz).…”

Section: B Shape Sensing With Multicore Optical Fibermentioning

confidence: 99%

A Fast Soft Robotic Laser Sweeping System Using Data-Driven Modeling Approach

Wang

et al. 2023

IEEE Trans. Robot.

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Soft robots have great potential in surgical applications due to their compliance and adaptability to their environment. However, their flexibility and nonlinearity bring challenges for precise modeling, sensing, and control, especially in constrained cavities. In this article, a simple, compact two-segment soft robot for flexible laser ablation is proposed. The proximal hydraulic-driven segment can offer omnidirectional bending so as to navigate toward lesions. The distal segment driven by tendons enables precise, fast steering of laser collimator for laser sweeping on lesion targets. The dynamics of such mechanical steering motion can be enhanced with a metal spring backbone integrated along the collimator, thus facilitating the control with certain linearity and responsiveness. A soft robot modeling and control scheme based on Koopman operators is proposed. We also design a disturbance observer so as to incorporate the controller feedback with real-time fiber optic shape sensing. Experimental validation is conducted on simulated or ex-vivo laser ablation tasks, thus evaluating our control strategies in laser path following across various contours/patterns. As a result, such a simple compact laser manipulation can perform up to 6 Hz sweeping with precision of path following errors below 1 mm. Such modeling and control scheme could also be used on an endoscopic laser ablation robot with unsymmetric mechanism driven by two tendons.

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Development of a Distal Tri-Axial Force Sensor for Minimally Invasive Surgical Palpation

Cited by 34 publications

References 43 publications

Three-dimensional catheter tip force sensing using multi-core fiber Bragg gratings

Three-dimensional catheter tip force sensing using multi-core fiber Bragg gratings

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

A Fast Soft Robotic Laser Sweeping System Using Data-Driven Modeling Approach

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