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Title: An integrated sensor-model approach for haptic feedback of flexible endoscopic robots
Authors: Lai, Wenjie
Cao, Lin
Tan, Rex Xiao
Tan, Yung Chuen
Li, Xiaoguo
Phan, Phuoc Thien
Tiong, Anthony Meng Huat
Tjin, Swee Chuan
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2019
Source: Lai, W., Cao, L., Tan, R. X., Tan, Y. C., Li, X., Phan, P. T., … Phee, S. J. (2020). An integrated sensor-model approach for haptic feedback of flexible endoscopic robots. Annals of Biomedical Engineering, 48(1), 342-356. doi:10.1007/s10439-019-02352-8
Journal: Annals of Biomedical Engineering
Abstract: Haptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) an integrated sensor-model approach to estimate forces on other TSMs of that arm. With a robust and simple structure, a temperature-compensated sensor can be mounted on the distal sheath to measure forces applied by the TSM. This proposed sensor was integrated with a Ø4.2 mm articulated robotic arm driven by six TSMs, with a measurement error of 0.37 N in this work. The measurement from the single sensor was used to identify parameters in the force-transmission models of all other TSMs in the robot, realizing a one-sensor-for-all-distal-forces measurement method. The sensor-model approach could accurately estimate the distal force with an RMSE of 0.65 N. An animal study was carried out to demonstrate the sensor's feasibility in real-life surgery. The sensor-model approach presented a robust, space-saving, and cost-effective solution for haptic feedback of endoscopic robots without any assumption on the shapes of the robot.
ISSN: 0090-6964
DOI: 10.1007/s10439-019-02352-8
Rights: © 2019 Biomedical Engineering Society. All rights reserved. This paper was published in Annals of Biomedical Engineering and is made available with permission of Biomedical Engineering Society.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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