Development of A Miniaturized 3-DOF Force Sensing Instrument for Robotically Assisted Retinal Microsurgery and Preliminary Results.

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2014-08-01 DOI:10.1109/BIOROB.2014.6913785

Xingchi He, Peter Gehlbach, James Handa, Russell Taylor, Iulian Iordachita

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引用次数: 14

Abstract

Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force sensing sensitivity and low crosstalk noise. The force sensing segment of the tool, located directly proximal to the tool tip, is ø0.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force sensing. Analysis of the experiment results suggests improvements for the future iteration.

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用于机器人辅助视网膜显微手术的小型三自由度力传感仪的研制及初步结果。

缺乏力感应是视网膜显微手术中最艰巨的技术挑战之一。将高灵敏度的力传感集成到眼科工具中，有可能为外科医生提供有用的力反馈，并实现安全的机器人辅助。本文提出了一种基于光纤光栅传感器的三自由度力传感器的新设计。为了实现高轴向力感测灵敏度和低串扰噪声，研制了一种新型柔性结构。该工具的力传感部分，位于直接接近刀尖，是ø0.9×8毫米。广泛的校准表明，力传感器可以测量高达21 mN的横向和轴向力，精度分别为0.5 mN和3.3 mN。新的弯曲设计展示了改善轴向力传感的潜力。通过对实验结果的分析，提出了改进的建议。

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Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics

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