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Article

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

by
Renfeng Xue
1,
Bingyin Ren
2,
Jiaqing Huang
1,
Zhiyuan Yan
1,* and
Zhijiang Du
1
1
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
2
School of mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(7), 2067; https://doi.org/10.3390/s18072067
Submission received: 16 May 2018 / Revised: 12 June 2018 / Accepted: 25 June 2018 / Published: 28 June 2018
(This article belongs to the Special Issue Tactile Sensors and Applications)
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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.
Keywords: cable tension; force sensor; surgical robot; modeling cable tension; force sensor; surgical robot; modeling

Share and Cite

MDPI and ACS Style

Xue, R.; Ren, B.; Huang, J.; Yan, Z.; Du, Z. Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots. Sensors 2018, 18, 2067. https://doi.org/10.3390/s18072067

AMA Style

Xue R, Ren B, Huang J, Yan Z, Du Z. Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots. Sensors. 2018; 18(7):2067. https://doi.org/10.3390/s18072067

Chicago/Turabian Style

Xue, Renfeng, Bingyin Ren, Jiaqing Huang, Zhiyuan Yan, and Zhijiang Du. 2018. "Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots" Sensors 18, no. 7: 2067. https://doi.org/10.3390/s18072067

APA Style

Xue, R., Ren, B., Huang, J., Yan, Z., & Du, Z. (2018). Design and Evaluation of FBG-Based Tension Sensor in Laparoscope Surgical Robots. Sensors, 18(7), 2067. https://doi.org/10.3390/s18072067

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