Abstract
In recent years, with the rapid development of minimally invasive surgery (MIS), the lack of force sensing associated with the surgical instrument used in MIS has been increasingly a desirable technology amongst clinicians. However, it is still an open technical challenge to date since most existing tactile sensing principles are not suitable to small 3-dimensional (3D) curved surfaces often seen in surgical instruments, and as a result multi-point force detection cannot be realized. In this paper, a novel optical waveguide-based sensor was proposed to deal with the above research gap. A sensor prototype for curved surfaces resembling the surface of dissection forceps was developed and experimentally evaluated. The static parameters and dynamic response characteristics of the sensor were measured. Results show that the static hysteresis error is less than 3%, the resolution is 0.026 N, and the repeatability is less than 1.5%. Under a frequency of 12.5 Hz, the sensor could quickly measure the variation of the force signal. We demonstrated that this small and high-precision sensitive sensor design is promising to be used for creating multiple-point tactile sensing for minimally invasive surgical instruments with 3D surfaces.
Highlights
minimally invasive surgery (MIS) is a surgical technique that is performed through keyholes
To advance the Frontier of this research, a 3D optical-based tactile sensing array used for detecting the contact force in MIS is presented in this paper and the characteristics of hysteresis, resolution, repeatability and dynamic response are studied
In order to apply this sensor on a complex 3D surface and detect as many multiple contacts as possible between the forceps, four tactile sensing elements were designed while the input waveguide was bifurcated into four independent channels
Summary
MIS is a surgical technique that is performed through keyholes. MIS has the advantages of less trauma, less pain, and rapid recovery (Puangmali et al, 2008). Estimated the external forces acting on the robot in all four quadrants using cable stretch and dynamics-based methods utilizing system dynamics and unscented Kalman filter (UKF) These indirect measurement methods can realize the force sensing of surgical instruments, the measurement accuracy is seriously limited due to the model error, estimation deviation, signal interference, and transmission loss. To advance the Frontier of this research, a 3D optical-based tactile sensing array used for detecting the contact force in MIS is presented in this paper and the characteristics of hysteresis, resolution, repeatability and dynamic response are studied. In order to apply this sensor on a complex 3D surface and detect as many multiple contacts as possible between the forceps, four tactile sensing elements were designed while the input waveguide was bifurcated into four independent channels.
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