Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots.

Journal: Sensors (Basel, Switzerland)
Published Date: Jun 28, 2018

Abstract

Due to the narrow space and a harsh chemical environment in the sterilization processes for the end-effector of surgical robots, it is difficult to install and integrate suitable sensors for the purpose of effective and precise force control. This paper presents an innovative tension sensor for estimation of grasping force in our laparoscope surgical robot. The proposed sensor measures the tension of cable using fiber gratings (FBGs) which are pasted in the grooves on the inclined cantilevers of the sensor. By exploiting the stain measurement characteristics of FBGs, the small deformation of the inclined cantilevers caused by the cable tension can be measured. The working principle and the sensor model are analyzed. Based on the sensor model, the dimensions of the sensor are designed and optimized. A dedicated experimental setup is established to calibrate and test the sensor. The results of experiments for estimation the grasping force validate the sensor.

Authors

  • Renfeng Xue
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. xuerenfeng@hit.edu.cn.
  • Bingyin Ren
    School of mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China. renby@hit.edu.cn.
  • Jiaqing Huang
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. 17S008080@stu.hit.edu.cn.
  • Zhiyuan Yan
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. yanzhiyuan@hit.edu.cn.
  • Zhijiang Du
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China. duzj01@hit.edu.cn.

Keywords

External Resources

Popular Topics
Recent Journals