TY - GEN
T1 - 3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling
T2 - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
AU - Gao, Anzhu
AU - Gonenc, Berk
AU - Guo, Jiangzhen
AU - Liu, Hao
AU - Gehlbach, Peter
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/26
Y1 - 2016/7/26
N2 - Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for forceps tools due to the motion and intrinsic forces that develop while opening/closing the forceps jaws. This paper presents a new design that adds another FBG attached to the forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
AB - Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for forceps tools due to the motion and intrinsic forces that develop while opening/closing the forceps jaws. This paper presents a new design that adds another FBG attached to the forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
UR - http://www.scopus.com/inward/record.url?scp=84983400890&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84983400890&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2016.7523674
DO - 10.1109/BIOROB.2016.7523674
M3 - Conference contribution
AN - SCOPUS:84983400890
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 489
EP - 494
BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PB - IEEE Computer Society
Y2 - 26 June 2016 through 29 June 2016
ER -