Performance Evaluation of Optically Sensorized Tendons for Articulate Surgical Instruments
- 주제(기타) Engineering, Biomedical
- 설명문(일반) [Karthikeyan, Rohith; Sigmund, Kelly; Ryu, Seok Chang] Texas A&M Univ, Dept Mech Engn, College Stn, TX 77840 USA; [Park, Yong-Lae] Seoul Natl Univ, Dept Mech Engn, Seoul 08826, South Korea
- 관리정보기술 faculty
- 등재 SCIE, SCOPUS
- 발행기관 ASME
- 발행년도 2019
- URI http://www.dcollection.net/handler/ewha/000000172057
- 본문언어 영어
- Published As https://dx.doi.org/10.1115/1.4044528
초록/요약
This study proposes an optically sensorized force-sensing tendon for minimally invasive surgical instruments. The tendon is composed of a high strength, polarization maintaining (PM) optical fiber with Bragg sensors (FBGs) that negate the cross-sensitivity of conventional FBGs. The PM-FBG fiber is locally reinforced with high stiffness Kevlar that enhances its load carrying capacity while enabling higher curvatures in tendon routing. The composite tendon has a mean diameter of similar to 268 mu m which preserves the form-factor of instruments within this scope. Importantly, the tendons can improve the functionality of such tools by enabling local force and tissue-resistance estimation. This paper explores the performance of these sensorized tendons in terms of strength, stability, response under dynamic load, friction, and sensitivity as a force measuring tool within an 18 Ga articulate Nitinol (NiTi) cannula (a proxy for potential applications). Results reaffirm the potential of a bi-modal sensing and actuation component within instruments for robotic surgery.
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