Fiber Bragg Grating-Based Triaxial Force Sensor With Parallel Flexure Hinges

During cardiac surgery, the excessive or insufficient contact force between the tip of catheter and heart tissue will lead to the cardiac penetration or noneffective ablative lesion. Usually, the surgeon can only estimate the force at the distal end roughly from their experience by operating the cat...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2018-10, Vol.65 (10), p.8215-8223
Main Authors: Gao, Anzhu, Zhou, Yuanyuan, Cao, Lei, Wang, Zhidong, Liu, Hao
Format: Article
Language:English
Subjects:
Axial forces
Catheters
Configuration management
Contact force
Decoupling method
Electron tubes
Fiber Bragg grating (FBG)
Flexing
flexure hinge
Force
force decoupling
force sensor
Force sensors
Heart
Hinges
minimally invasive surgery
Optical fiber sensors
Optical fibers
Sensors
Stiffness
Surgery
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Summary:During cardiac surgery, the excessive or insufficient contact force between the tip of catheter and heart tissue will lead to the cardiac penetration or noneffective ablative lesion. Usually, the surgeon can only estimate the force at the distal end roughly from their experience by operating the catheter's proximal handle. In this paper, we design a fiber Bragg grating-based triaxial force sensor with parallel flexure hinges to sense the contact force. The proposed mechanism integrated with parallel flexure hinges is capable of achieving an excellent lateral and axial stiffness balance to guarantee the resolution at each direction with the same order of magnitude. The mathematical model is built to design a suitable stiffness configuration and validate the design reasonability. The model-based and model-free methods are adopted to decouple lateral and axial force components. Experimental results demonstrate that the developed 8 French size force sensor can successfully achieve the triaxial force prediction with
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2018.2798569