Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/147786
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dc.contributor.authorLai, Wenjieen_US
dc.contributor.authorCao, Linen_US
dc.contributor.authorPhan, Phuoc Thienen_US
dc.contributor.authorWu, I-Wenen_US
dc.contributor.authorTjin, Swee Chuanen_US
dc.contributor.authorPhee, Soo Jayen_US
dc.date.accessioned2021-06-04T11:01:19Z-
dc.date.available2021-06-04T11:01:19Z-
dc.date.issued2020-
dc.identifier.citationLai, 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. https://dx.doi.org/10.1109/ICRA40945.2020.9196549en_US
dc.identifier.isbn9781728173955-
dc.identifier.urihttps://hdl.handle.net/10356/147786-
dc.description.abstractAccurate 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.en_US
dc.description.sponsorshipNational Research Foundation (NRF)en_US
dc.language.isoenen_US
dc.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: https://doi.org/10.1109/ICRA40945.2020.9196549en_US
dc.subjectEngineering::Mechanical engineeringen_US
dc.titleJoint rotation angle sensing of flexible endoscopic surgical robotsen_US
dc.typeConference Paperen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.conference2020 IEEE International Conference on Robotics and Automation (ICRA)en_US
dc.identifier.doi10.1109/ICRA40945.2020.9196549-
dc.description.versionAccepted versionen_US
dc.identifier.scopus2-s2.0-85092691951-
dc.identifier.spage4789en_US
dc.identifier.epage4795en_US
dc.subject.keywordsSurgical Roboticsen_US
dc.subject.keywordsRobot Sensing Systemsen_US
dc.citation.conferencelocationParis, Franceen_US
dc.description.acknowledgementThis work was supported by National Research Foundation (NRF) Singapore (NRFI2016-07).en_US
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