Li, Y; Gaozhang, W; Hu, J; Cao, D; Dasgupta, P; Liu, H; (2024) Optical-Waveguide Based 3-Axial Tactile Sensor for Minimally Invasive Surgical Instruments. IEEE Robotics and Automation Letters , 9 (2) pp. 1604-1611. 10.1109/LRA.2023.3346756.

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Abstract

Force feedback is of importance in Minimally Invasive Surgery (MIS) as it reduces surgical risks and enhances surgical safety. However, equipping force sensing to the tip of surgical instruments presents challenges due to their diminutive dimensions and often curved shapes. To address this issue, a novel and compact optical-based 3-Axial force sensor used for the surgical forceps is proposed. Based on the extent of disruption to the total internal reflection (TIR), the magnitude and the direction of the force can be detected by measuring the light intensity patterns from three intersecting channels. The calibration experiments validate the capability of the proposed sensor to accurately measure forces within the range of 0 to 3N, achieving an average measurement error of 0.089N. Subsequently, the sensor, along with the detection circuit, are integrated onto a surgical forcep, and verification experiments are conducted. The results indicate that the proposed sensor can provide effective 3-Axial force sensing during the surgical process such as grasping, manipulation, and pulling. The characteristics of compact size, high precision, and integrability of the sensor make it highly promising for providing force feedback in MIS.

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