A Force Measurement Device Using Optical Fiber for Surgical Tools – Basic Concept and Implementation –
Kazuhiro Taniguchi*1, Etsuko Kobayashi*1, Sanghyun Joung*1,
Minoru Ono*2, Noboru Motomura*2, Shunei Kyo*3,
Shinichi Takamoto*4, and Ichiro Sakuma*1
*1School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
*2Department of Cardiothoracic Surgery, The University of Tokyo
*3Department of Therapeutic Strategy for Heart Failure, The University of Tokyo
*4Mitsui Memorial Hospital
The system proposed here measures compressive and tensile stress working longitudinally in an endoscopic surgical-assistant robot tool for the palpation of lung cancer. The force sensor is a safe, sanitary Fiber Bragg Grating (FBG) strain sensor. Such sensors are suitable for medical applications but have the disadvantage of force measurement being adversely affected by temperature. An FBG sensor on a workpiece is strained simultaneously with the workpiece to measure force based on the strain degree. A workpiece with a high Young’s modulus decrease strain, compromising sensor measurement resolution. Our proposal, discussed and evaluated in the sections that follow, solves these problems of temperature compensation and measurement resolution. The trial device we fabricated amplifies strain to enhance measurement resolution. We measured FBG sensor performance by applying compressive and tensile stress longitudinally on the trial device and determined, based on measurement results, that strain was amplified. We also confirmed that FBG sensormeasurement corresponded linearly to the compressive and tensile stress of 0-3 N. The trial device we fabricated filtered bending and torsional stress – excluding tensile and compressive stress – applied to the workpiece and confirmed device effectiveness in suppressing bending and torsional stress. Our trial device for temperature compensation solves the problems of the FBG sensor within a small, lightweight package.
-  E. Kobayashi, K. Masamune, I. Sakuma, T. Dohi, and D. Hashimoto, “A New Safe Laparoscopic Manipulator System with a Five-Bar Linkage Mechanism and an Optical Zoom,” Computer Aided Surgery Vol.4, pp. 182-192, 1999.
-  J. Bodner, F. Augustin, H. Wykypiel, J. Fish, G. Muehlmann, G. Wetscher, and T. Schmid, “The da Vinci robotic system for general surgical applications: a critical interim appraisal,” Swiss Med Wkly Vol.135, pp. 674-678, 2005.
-  I. Sakuma, S. Joung, H. Kim, P. de Lange, T. Ando, Y. Takata, E. Kobayashi, M. Ono, S. Kyo, N. Motomura, J. Nakajima, K. Taniguchi, R. Hyoudou, K. Kishi, S. Takahashi, M. Onoda, T. Uno, and H. Misawa, “Intelligent Surgical Instruments for Cardiothoracic Surgery,” The 28th Annual Conf. of the Robotics Society of Japan, 2K2-7, 2010. (in Japanese)
-  Z. Sun, M. Balicki, J. K. J. Handa, R. Taylor, and I. Iordachita, “Development and Preliminary Data of Novel Integrated Optical Micro-Force Sensing Tools for Retinal Microsurgery,” 2009 IEEE Int. Conf. on Robotics and Automation, pp. 1897-1902, 2009.
-  Y.-L. Park, K. Chau, R. J. Black, and M. R. Cutkosky, “Force sensing robot fingers using embedded fiber Bragg grating sensors and Shape Deposition Manufacturing,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation. pp. 1510-1516, 2007.
-  J. Arata, S. Terakawa, and H. Fujimoto, “Development of a back born shepe allay force sensor using fiber optic,” J. of JSCAS, Vol.11, No.3, pp. 344-345, 2009.
-  K. Taniguchi, E. Kobayashi, S. Joung, M. Ono, N. Motomura, S. Kyo, S. Takamoto, and I. Sakuma, “Proposal of a Force Measurement Unit using Optical Fiber for Forceps Manipulator,” 2010 JSME Conf. on robotics and mechatronics, 2010.
-  T. Thiel, J. Meissner, and U. Kliebold, “Autonomous Crack Response Monitoring on civil structures with Fiber Bragg Grating displacement sensors,” 17th OFS Conf. 2005, Belgium, 2005.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2011 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.