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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
Department机器人学研究室
Source PublicationIEEE Transactions on Industrial Electronics
ISSN0278-0046
2018
Volume65Issue:10Pages:8215-8223
Indexed BySCI ; EI
EI Accession number20180604751651
WOS IDWOS:000441990000006
Contribution Rank1
Funding OrganizationNational Key Research and Development Program ; National Natural Science Foundation of China ; Natural Science Foundation of Liaoning Province
KeywordMinimally Invasive Surgery Force Sensor Flexure Hinge Fiber Bragg Grating Force Decoupling
Abstract

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.

Language英语
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS KeywordCONTACT FORCE ; RETINAL MICROSURGERY ; SENSING INSTRUMENT ; ABLATION ; SURGERY ; TOCCATA
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
Funding ProjectNational Key Research and Development Program[2017YFC0110902] ; National Natural Science Foundation of China[61473281] ; Natural Science Foundation of Liaoning Province[201602744]
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21528
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.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
Recommended Citation
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.
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