Pouya Soltani Zarrin1, Abelardo Escoto2, Ran Xu3, Rajnikant V. Patel4, Michael D. Naish5, Ana Luisa Trejos4
11:30 - 11:35 | Tue 30 May | Room 4711/4712 | TUB7.1
In spite of the remarkable benefits that minimally invasive surgery provides for patients, the absence of force feedback in this surgical method is still a significant disadvantage. Several studies have been performed to address this issue; however, an accurate sterilizable force sensing technology for measuring axial and grasping forces is still missing. In this work, an innovative partial grasper has been designed and developed for a laparoscopic needle driver that can measure axial and grasping force information at the grasper tip. FBG sensors were used in this work due to their sterilizability and high sensitivity. Accuracies of 0.19 N and 0.26 N were achieved for the grasping and axial sensors respectively.