Paper Info
Title
A submillimetric 3-DOF force sensing instrument with integrated fiber Bragg grating for retinal microsurgery.
Abstract
Vitreoretinal surgery requires very fine motor control to perform precise manipulation of the delicate tissue in the interior of the eye. Besides physiological hand tremor, fatigue, poor kinesthetic feedback, and patient movement, the absence of force sensing is one of the main technical challenges. Previous two degrees of freedom (DOF) force sensing instruments have demonstrated robust force measuring performance. The main design challenge is to incorporate high sensitivity axial force sensing. This paper reports the development of a submillimetric 3-DOF force sensing pick instrument based on fiber Bragg grating (FBG) sensors. The configuration of the four FBG sensors is arranged to maximize the decoupling between axial and transverse force sensing. A superelastic nitinol flexure is designed to achieve high axial force sensitivity. An automated calibration system was developed for repeatability testing, calibration, and validation. Experimental results demonstrate a FBG sensor repeatability of 1.3 pm. The linear model for calculating the transverse forces provides an accurate global estimate. While the linear model for axial force is only locally accurate within a conical region with a 30° vertex angle, a second-order polynomial model can provide a useful global estimate for axial force. Combining the linear model for transverse forces and nonlinear model for axial force, the 3-DOF force sensing instrument can provide sub-millinewton resolution for axial force and a quarter millinewton for transverse forces. Validation with random samples show the force sensor can provide consistent and accurate measurement of 3-D forces.
Year
DOI
Venue
2014
10.1109/TBME.2013.2283501
IEEE Trans. Biomed. Engineering
Keywords
Field
DocType
eye,calibration,force sensors,linear model,second-order polynomial model,very fine motor control,quarter millinewton,force measurement,biomedical optical imaging,fibre optic sensors,eye interior tissue,retinal microsurgery,vitreoretinal surgery,physiological hand tremor,fiber bragg grating sensors,submillinewton resolution,fatigue,transverse force sensing,fbg sensor repeatability,high sensitivity axial force sensing,surgical instruments,poor kinesthetic feedback,force feedback,transverse forces,patient movement,force sensor,biological tissues,superelastic nitinol flexure,repeatability testing,submillimetric 3-dof force sensing instrument,bragg gratings,surgery,automated calibration system,validation,integrated fiber bragg grating,conical region,temperature,robotics,feedback
Fiber Bragg grating,Conical surface,Transverse plane,Millinewton,Vertex angle,Computer science,Optics,Electronic engineering,Artificial intelligence,Haptic technology,Calibration,Robotics
Journal
Volume
Issue
ISSN
61
2
1558-2531
Citations 
PageRank 
References 
4
0.56
0
Authors
5
Name
Order
Citations
PageRank
Xingchi He1293.54
James Handa2687.04
Peter Gehlbach311916.50
Russell H. Taylor41970438.00
Iulian Iordachita533262.98