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Abraded optical fibre-based dynamic range force sensor for tissue palpation

Authors :
Abu Bakar Dawood
Vamsi Krishna Chavali
Thomas Mack
Zhenyu Zhang
Hareesh Godaba
Martin Angelmahr
Kaspar Althoefer
Source :
Frontiers in Robotics and AI, Vol 11 (2024)
Publication Year :
2024
Publisher :
Frontiers Media S.A., 2024.

Abstract

Tactile information acquired through palpation plays a crucial role in relation to surface characterisation and tissue differentiation - an essential clinical requirement during surgery. In the case of Minimally Invasive Surgery, access is restricted, and tactile feedback available to surgeons is therefore reduced. This paper presents a novel stiffness controllable, dynamic force range sensor that can provide remote haptic feedback. The sensor has an abraded optical fibre integrated into a silicone dome. Forces applied to the dome change the curvature of the optical fibres, resulting in light attenuation. By changing the pressure within the dome and thereby adjusting the sensor’s stiffness, we are able to modify the force measurement range. Results from our experimental study demonstrate that increasing the pressure inside the dome increases the force range whilst decreasing force sensitivity. We show that the maximum force measured by our sensor prototype at 20 mm/min was 5.02 N, 6.70 N and 8.83 N for the applied pressures of 0 psi (0 kPa), 0.5 psi (3.45 kPa) and 1 psi (6.9 kPa), respectively. The sensor has also been tested to estimate the stiffness of 13 phantoms of different elastic moduli. Results show the elastic modulus sensing range of the proposed sensor to be from 8.58 to 165.32 kPa.

Details

Language :
English
ISSN :
22969144
Volume :
11
Database :
Directory of Open Access Journals
Journal :
Frontiers in Robotics and AI
Publication Type :
Academic Journal
Accession number :
edsdoj.98cbaab569ef46ec8eab0e88f1ca6f6a
Document Type :
article
Full Text :
https://doi.org/10.3389/frobt.2024.1489884