SIA OpenIR  > 机器人学研究室
Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges
Gao AZ(高安柱)1,2; Zhou YY(周圆圆)1,2; Cao L(曹蕾)1,2; Wang ZD(王志东)3; Liu H(刘浩)1,2
作者部门机器人学研究室
关键词Minimally Invasive Surgery Force Sensor Flexure Hinge Fiber Bragg Grating Force Decoupling
发表期刊IEEE Transactions on Industrial Electronics
ISSN0278-0046
2018
卷号65期号:10页码:8215-8223
收录类别SCI ; EI
EI收录号20180604751651
WOS记录号WOS:000441990000006
产权排序1
资助机构National Key Research and Development Program ; National Natural Science Foundation of China ; Natural Science Foundation of Liaoning Province
摘要

During the cardiac surgery, the excessive or insufficient contact force between the tip of catheter and heart tissue will lead to the penetration or non-effective ablative lesion. Usually, the surgeon can only estimate the force at the distal end roughly from their experience by operating the catheters proximal handle. In this paper, we design a fiber Bragg grating based tri-axial force sensor with parallel flexure hinges to sense the contact force. The proposed mechanism integrated with parallel flexure hinges is capable of achieving an excellent lateral and axial stiffness balance to guarantee the resolution at each direction with the same order of magnitude. The mathematical model is built to design a suitable stiffness configuration and validate the design reasonability. The model-based and model-free methods are adopted to decouple lateral and axial force components. Experimental results demonstrate that the developed 8 French size force sensor can successfully achieve the tri-axial force prediction with 1 g resolution using both two decoupling methods. And the model-free method can accomplish a higher accuracy with RMS error 1% of full scale of [-100 g, 100 g] along the lateral direction and [0 g, 100 g] along the axial compression direction.

语种英语
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
关键词[WOS]CONTACT FORCE ; RETINAL MICROSURGERY ; SENSING INSTRUMENT ; ABLATION ; SURGERY ; TOCCATA
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
资助项目National Key Research and Development Program[2017YFC0110902] ; National Natural Science Foundation of China[61473281] ; Natural Science Foundation of Liaoning Province[201602744]
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21528
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 101408, China
3.Dept. of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba Japan
推荐引用方式
GB/T 7714
Gao AZ,Zhou YY,Cao L,et al. Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges[J]. IEEE Transactions on Industrial Electronics,2018,65(10):8215-8223.
APA Gao AZ,Zhou YY,Cao L,Wang ZD,&Liu H.(2018).Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges.IEEE Transactions on Industrial Electronics,65(10),8215-8223.
MLA Gao AZ,et al."Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges".IEEE Transactions on Industrial Electronics 65.10(2018):8215-8223.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Fiber Bragg Grating-(4267KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Gao AZ(高安柱)]的文章
[Zhou YY(周圆圆)]的文章
[Cao L(曹蕾)]的文章
百度学术
百度学术中相似的文章
[Gao AZ(高安柱)]的文章
[Zhou YY(周圆圆)]的文章
[Cao L(曹蕾)]的文章
必应学术
必应学术中相似的文章
[Gao AZ(高安柱)]的文章
[Zhou YY(周圆圆)]的文章
[Cao L(曹蕾)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。