Abstract
In this paper, we proposed a laparoscopic grasper force sensor that is able to distinguish both the magnitude and direction of the force, which is improved by random forest. The sensor is based on a seven-core multicore fiber inscribed with Bragg gratings (FBGs) in each core and packaged with polydimethylsiloxane (PDMS). The force measurement was demonstrated by applying the force magnitude in the range of 0 to 6N and direction ranging from 0° to 45°. To realize the prediction of the force and direction simultaneously, a random forest model is established and the results show a magnitude error of 0.104 N and an angular error of 2.269°, implying a good performance even with limited experimental data.
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