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Title: Joint rotation angle sensing of flexible endoscopic surgical robots
Authors: Lai, Wenjie
Cao, Lin
Phan, Phuoc Thien
Wu, I-Wen
Tjin, Swee Chuan
Phee, Soo Jay
Keywords: Engineering::Mechanical engineering
Issue Date: 2020
Source: Lai, W., Cao, L., Phan, P. T., Wu, I., Tjin, S. C. & Phee, S. J. (2020). Joint rotation angle sensing of flexible endoscopic surgical robots. 2020 IEEE International Conference on Robotics and Automation (ICRA), 4789-4795.
Abstract: Accurate motion control of surgical robots is critical for the efficiency and safety of both state-of-the-art teleoperated robotic surgery and the ultimate autonomous robotic surgery. However, fine motion control for a flexible endoscopic surgical robot is highly challenging because of the shape-dependent and speed-dependent motion hysteresis of tendon-sheath mechanisms (TSMs) in the long, tortuous, and dynamically shape-changing robot body. Aiming to achieve precise closed-loop motion control, we propose a small and flexible sensor to directly sense the large and sharp rotations of the articulated joints of a flexible endoscopic surgical robot. The sensor - a Fiber Bragg Grating (FBG) eccentrically embedded in a thin and flexible epoxy substrate - can be significantly bent with a large bending angle range of [-62.9°, 75.5°] and small bending radius of 6.9 mm. Mounted in-between the two pivot-connected links of a joint, the sensor will bend once the joint is actuated, resulting in the wavelength shift of the FBG. In this study, the relationship between the wavelength shift and the rotation angle of the joint was theoretically modeled and then experimentally verified before and after the installation of the sensor in a robotic endoscopic grasper. The sensor, with the calibrated model, can track the rotation of the robotic joint with an RMSE of 3.34°. This small and flexible sensor has good repeatability, high sensitivity (around 147.5 pm/degree), and low hysteresis (7.72%). It is suitable for surgical robots and manipulators whose articulated joints have a large rotation angle and small bending radius.
ISBN: 9781728173955
DOI: 10.1109/ICRA40945.2020.9196549
Rights: © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
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