Temperature Independent Triaxial Force and Torque Sensor for Minimally Invasive Interventions

Taghipour, Ata; Cheema, Asim N.; Gu, Xiaodong; Janabi–Sharifi, Farrokh

doi:10.1109/tmech.2019.2956148

Cited by 18 publications

(11 citation statements)

References 18 publications

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“…A guideline for the rapid prototyping of force sensors [43] described a 1-DOF force sensor based on fiber optics. Another very sensitive 3D printed optical force sensor based on Fiber Bragg wavelength shift was presented recently [44]. The works most similar to ours are a 1-DOF torque sensor FFF-printed from ABS plastic [45] and the 3D printed force sensor described in [46], [47].…”

Section: Related Workmentioning

confidence: 59%

3D Printed Low-Cost Force-Torque Sensors

2020

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Force sensing is essential for many manipulation tasks and, more generally, for all robots physically interacting with their environment. While multi-axis force/torque sensors are readily available commercially, their cost and complex integration have so far limited a wide deployment. In this paper, we introduce a modular approach to design and to integrate low-cost force sensors directly into 3D printed robot parts. Based on off-the-shelf optical sensors embedded into deformable structures, sensitivity and load capacity can be selected from a wide range. A working six-axis sensor, including electronics, can be built for less than 20 dollars, plus a few hours of 3D printing. We present tested example designs for sensors of different complexity, from a basic one-dimensional deflecting beam to six-axis sensors with custom shapes. We summarize the basic sensor layout geometries, explain key 3D printing and integration aspects, discuss sensor calibration, and describe our Arduino firmware and ROS-based drivers.

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Section: Related Workmentioning

confidence: 59%

3D Printed Low-Cost Force-Torque Sensors

2020

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“…Overall, the results depict a minimal influence of increasing temperature on the sensitivity of the four FBG. This showcases that the proposed sensor could provide a good fit for applications with temperature requirements between 35 and 50 °C, such as in cardiac ablation and PCI procedures [14], [16]. Besides, a comparative analysis of the force sensor prototype in this study with other existing studies is given in Table 3.…”

Section: B Experimental Resultsmentioning

confidence: 76%

“…However, metals are a less biocompatible material for vascular procedures. Biocompatible 3-D FBG-based distal force sensors have been proposed for cardiac ablation procedures [14], [15].…”

Section: Introductionmentioning

confidence: 99%

Toward a Fiber Bragg Grating-Based Two-Dimensional Force Sensor for Robot-Assisted Cardiac Interventions

et al. 2022

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Coronary heart disease (CHD) has one of the highest contribution to global health risks. In essence, CHD's economic burden cum the goal of achieving sustainable human health has attracted attention toward procedural innovations for better diagnosis and treatment of CHD. Despite having robotic systems paving the way towards reducing the perioperative risks faced by interventionists and patients, modeling and sensing of distal force feedback remain as an unsolved challenge. Of all sensing techniques adopted to solve this challenge, a fiber Bragg grating-based technique seems to be the most promising. In this letter, a prototype of a 3-D-printed 2-D distal force sensor is proposed for acquiring tool-vessel contact forces during robot-assisted cardiac procedures. The prototype consists of a symmetrical sensing structure designed with four optical fibers. Simulation and experimental studies were carried out to validate the applicability of the sensor. The simulation result shows that the force sensor could experience a minimal deformation under lateral forces of up to 1.0 N, whereas the in-lab temperature characterization study indicates that the sensor prototype has good linearity with increasing temperature between 35 and 54 °C. Thus, the fiber Bragg grating-based technique could enhance robot-assisted treatments of CHD.

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“…These were positioned so that as the F/T sensor was brought into contact with the membrane, it would remain parallel to, and concentric with, the membrane. F/T sensors mounted on linear rails are commonly used to calibrate and validate force sensors as they allow multiple forces to be automatically tested in quick succession [12]- [14], [17]. Our experiments were run in line with these previous works with only minor variations for the sensors range and sensing process.…”

Section: A Experiments 1: Normal Force Sensing Methodologymentioning

confidence: 99%

Soft, Stiffness-Controllable Sensing Tip for On-Demand Force Range Adjustment With Angled Force Direction Identification

et al. 2022

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Force sensors are essential for measuring and controlling robot-object interactions. However, current force sensors have limited usability in applications such as grasping and palpation, where the range of angled forces changes between tasks. To address this limitation this paper proposes a novel optical-based soft-tipped force sensor capable of adjusting its range and sensitivity through pneumatic modulation. This research describes the sensor's design and examines the relationship between the internal pressure of the sensor and its sensing range, sensitivity, single-axis force-sensing accuracy, and capability of measuring the angle and magnitude of non-normal forces. Results indicate that by increasing the pressure in the sensor, the sensing range can be increased and the sensitivity decreased. These results demonstrate that the sensor can measure normal forces reliably at each pressure using 4th order fits with root-mean-square error (RMSE)∈ [0.032 N 0.110 N]. Finally, it is also demonstrated that by using a neural network, the sensor can measure the angle and magnitude of non-normal forces with RMSEs on trained variables of 0.0120 Rad for Y-angle (θ Y ) measurements, 0.0109 Rad for X-angle (θ X ) measurements, and 0.102 N for force measurements.

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Temperature Independent Triaxial Force and Torque Sensor for Minimally Invasive Interventions

Cited by 18 publications

References 18 publications

3D Printed Low-Cost Force-Torque Sensors

3D Printed Low-Cost Force-Torque Sensors

Toward a Fiber Bragg Grating-Based Two-Dimensional Force Sensor for Robot-Assisted Cardiac Interventions

Soft, Stiffness-Controllable Sensing Tip for On-Demand Force Range Adjustment With Angled Force Direction Identification

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