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Performance Evaluation of Optically Sensorized Tendons for Articulate Surgical Instruments
- Title
- Performance Evaluation of Optically Sensorized Tendons for Articulate Surgical Instruments
- Authors
- Karthikeyan, Rohith; Sigmund, Kelly; Park, Yong-Lae; Ryu, Seok Chang
- Ewha Authors
- 류석창
- SCOPUS Author ID
- 류석창
- Issue Date
- 2019
- Journal Title
- JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
- ISSN
- 1932-6181
1932-619X
- Citation
- JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME vol. 13, no. 4
- Publisher
- ASME
- Indexed
- SCIE; SCOPUS
- Document Type
- Article
- Abstract
- 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.
- DOI
- 10.1115/1.4044528
- Appears in Collections:
- 공과대학 > 휴먼기계바이오공학과 > Journal papers
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