Impedance control of a robot needle with a fiber optic force sensor

In this paper, an impedance control is proposed for a robotic needle with a fiber optic force sensor. The fiber optic force sensor is placed at the tip of the needle to directly measure the interaction force between needle and soft tissue, overcoming the noise like friction force. The sensor is sens...

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Bibliographic Details
Main Authors: Lifang Xiao, Tangwen Yang, Benyan Huo, Xingang Zhao, Jianda Han, Weiliang Xu
Format: Conference Proceeding
Language:English
Subjects:
fiber optic force sensor
Force
Force sensors
Impedance
impedance control
Needles
Optical fibers
robotic needle
Robots
temperature compensation
Temperature sensors
Online Access:Request full text
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Summary:In this paper, an impedance control is proposed for a robotic needle with a fiber optic force sensor. The fiber optic force sensor is placed at the tip of the needle to directly measure the interaction force between needle and soft tissue, overcoming the noise like friction force. The sensor is sensitive to the temperature condition, and their relationship is first established, and then used to compensate for the temperature influence to enhance the force measurement. An impedance control is presented based on insertion model whose impedance parameters are identified in terms of acquired test data, and experimental results show that the control strategy is effective to avoid excessive insertion force, reducing the risk of robotic needle.
ISSN:2164-5221
DOI:10.1109/ICSP.2016.7878052