An Optical Grasping Force Sensor for Minimally Invasive Surgical Robotic Forceps

The purpose of this study is to realize the grasp force measurement of forceps for minimally invasive surgical robots. The minimally invasive surgical robots currently in widespread use limit the direct sensation of the surgeon, and require a high level of control skills and proficiency to use. To s...

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Bibliographic Details
Published in2022 IEEE Sensors pp. 1 - 4
Main Authors Sato, Kazutaka, Morizane, Shuichi, Takenaka, Atsushi, Ueki, Masaru, Matsunaga, Tadao, Lee, Sang-Seok
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.01.2022
Subjects
Fabry-Perot interferometer
Force
Force measurement
grasp force
Medical robotics
Optical device fabrication
optical fiber
Optical fiber sensors
Optical fibers
Optical interferometry
robotic forceps
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Summary:The purpose of this study is to realize the grasp force measurement of forceps for minimally invasive surgical robots. The minimally invasive surgical robots currently in widespread use limit the direct sensation of the surgeon, and require a high level of control skills and proficiency to use. To solve those problems, the grasping force sensing of the robotic forceps is needed. However, considering the practical aspects such as miniaturization and productivity, it is not easy to attach the conventional force sensor to the robotic forceps. In this study, we propose a novel grasping force sensing method using optical interference between ultra-thin optical fibers. We demonstrate the working principle of the grasp sensor through the sensor fabrication and evaluation.
ISSN:2168-9229
DOI:10.1109/SENSORS52175.2022.9967143