FBG-based polymer-molded shape sensor integrated with minimally invasive surgical robots

Moon, Hee‐Jong; Jeong, Jin‐Woo; Kim, Ockchul; Kim, Keri; Lee, Woosub; Kang, Sungchul; Kim, Jinseok

doi:10.1109/icra.2015.7139427

Cited by 16 publications

(6 citation statements)

References 18 publications

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“…Previously described fiber optic sensing using fiber Bragg gratings (FBGs) to detect tip force [23],[24],[25] and deflection [26],[27] of end-effectors for robotic and MIS applications was chosen for the force sensing. Axial force can be optically detected by measuring reflection wavelength shifts that are proportional to mechanical strain changes on the FBG area within a specific region of the fiber.…”

Section: Design and Fabricationmentioning

confidence: 99%

Miniaturized Robotic End-Effector With Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures

Aranda‐Michel

Wirekoh

et al. 2018

IEEE Sensors J.

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Each year 35,000 cardiac ablation procedures are performed to treat atrial fibrillation through the use of catheter systems. The success rate of this treatment is highly dependent on the force which the catheter applies on the heart wall. If the magnitude of the applied force is much higher than a certain threshold the tissue perforates, whereas if the force is lower than this threshold the lesion size may be too large and is inconsistent. Furthermore, studies have shown large variability in the applied force from trained physicians during treatment, suggesting that physicians are unable to manually regulate the levels of the force at the site of treatment. Current catheter systems do not provide the physicians with active means for contact force control and are only at most aided by visual feedback of the forces measured in situ. This paper discusses a novel design of a robotic end-effector that integrates mechanisms of sensing and actively controlling of the applied forces into a miniaturized compact form. The required specifications for design and integration were derived from the current application under investigation. An off-the-shelf miniature piezoelectric motor was chosen for actuation, and a force sensing solution was developed to meet the specifications. Experimental characterization of the actuator and the force sensor within the integrated setup show compliance with the specifications and pave the way for future experimentation where closed-loop control of the system can be implemented according to the contact force control strategies for the application.

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Section: Design and Fabricationmentioning

confidence: 99%

Miniaturized Robotic End-Effector With Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures

Aranda‐Michel

Wirekoh

et al. 2018

IEEE Sensors J.

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“…Shape sensors made from multiple single-mode fibers are more cost-effective as expensive custom-made fan-out devices are replaced by standard fiber couplers. To create such a bundle, the optical fibers can either be directly glued together [12], embedded in a grooved cylindrical base [6], molded into flexible materials [13], or attached on a cylindrical substrate [7], [14], [15]. Shape sensors based on these different designs present various benefits and drawbacks and are a tradeoff between flexibility and accuracy.…”

Section: Introductionmentioning

confidence: 99%

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Roodsari

Freund

Zam

et al. 2022

IEEE Trans. Biomed. Eng.

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Minimally invasive surgical procedures have become the preferable option, as the recovery period and the risk of infections are significantly lower than traditional surgeries. However, the main challenge in using flexible tools for minimal surgical interventions is the lack of precise feedback on their shape and tip position inside the patient's body. Shape sensors based on fiber Bragg gratings (FBGs) can provide accurate shape information depending on their design. One of the most common configurations in FBG-based shape sensors is to attach three single-mode optical fibers with arrays of FBGs in a triangular fashion around a substrate. Usually, the selected substrates dominate the bending stiffness of the sensor probe, as they have a larger diameter and show less flexibility compared to the optical fibers. Although sensors with this configuration can accurately estimate the shape, they cannot be implemented in flexible endoscopes where large deflections are expected.This paper investigates the shape sensor's performance when using a superelastic substrate with a small diameter instead of a substrate with dominating bending stiffness. A generalized model is also designed for characterizing this type of flexible FBG-based shape sensor. Moreover, we evaluated the sensor in single and multi-bend deformations using two shape reconstruction methods.

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“…Shape Reconstruction Principle. Moon et al [27] used FBG sensors to measure strain. They reconstructed the entire shape of a cannula that had a 2.8 mm diameter using beam theory.…”

Section: Introductionmentioning

confidence: 99%

Shape Estimation of Soft Manipulator Using Stretchable Sensor

Kim

Kim³

et al. 2021

Cyborg Bionic Syst

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The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness, lightness in its weight, and safety toward the human organ. However, it cannot be used widely because of its difficulty of control. To control a soft robot manipulator accurately, shape sensing is essential. This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube (MWCNT) and silicone (p7670). The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator. In its fabrication, MWCNT is sprayed on a teflon sheet, and liquid-state silicone is poured on it. After curing, we turn it over and cover it with another silicone layer. The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor. After calibration and determining the relationship between the resistance of the sensor and the strain, three sensors are attached at 120° intervals. Using the obtained data, the curvature of the manipulator is calculated, and the entire shape is reconstructed. To validate its accuracy, the estimated shape is compared with the camera data. We experiment with three, six, and nine sensors attached, and the result of the error of shape estimation is compared. As a result, the minimum tip position error is approximately 8.9 mm, which corresponded to 4.45% of the total length of the manipulator when using nine sensors.

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FBG-based polymer-molded shape sensor integrated with minimally invasive surgical robots

Cited by 16 publications

References 18 publications

Miniaturized Robotic End-Effector With Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures

Miniaturized Robotic End-Effector With Piezoelectric Actuation and Fiber Optic Sensing for Minimally Invasive Cardiac Procedures

Fabrication and Characterization of a Flexible FBG-Based Shape Sensor Using Single-Mode Fibers

Shape Estimation of Soft Manipulator Using Stretchable Sensor

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