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Limited By:	Author = Callaghan, Dean;

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A Fiber Bragg Grating-Based All-Fiber Sensing Systems for Telerobotic Cutting Applications (2010)

Rajan, Ginu; Callaghan, Dean; Semenova, Yuliya; McGrath, Mark; Coyle, Eugene; Farrell, ...

A Fiber Bragg Grating-Based All-Fiber Sensing Systems for Telerobotic Cutting Applications (2010)

Rajan, Ginu; Callaghan, Dean; Semenova, Yuliya; McGrath, Mark; Coyle, Eugene; Farrell, Gerald

Abstract:

A fiber Bragg grating (FBG)-based strain sensing system for minimally invasive telerobotic cutting applications is presented in this paper. Investigations assume that a scissor blade can be approximated as a uniformly tapered cantilever beam. A replica of the scissor blade is produced and strain characterization has been carried out using an FBG sensor system. Results are validated against measurements obtained using conventional electrical resistance strain gauges. The scissor blade experiences both direct and lateral forces during cutting, hence the system is characterized for a direct load range of 0-30 N and a lateral load range of 0-10 N. The results show a very good linear response for direct loading and some sensitivity to lateral loading. An actual sensorized scissor blade prototype is also characterized and results compared with that of the replica blade. The FBG interrogation system used was a macro-bend fiber filter-based ratiometric system. The use of FBGs together with ...

https://arrow.dit.ie/engscheceart/57

Marked Mark

A Force Measurement Evaluation Tool for Telerobotic Cutting Applications: Development of an Effective Characterization Platform (2008)

Callaghan, Dean; McGrath, Mark; Coyle, Eugene

A Force Measurement Evaluation Tool for Telerobotic Cutting Applications: Development of an Effective Characterization Platform (2008)

Callaghan, Dean; McGrath, Mark; Coyle, Eugene

Abstract:

Sensorized instruments that accurately measure the interaction forces (between biological tissue and instrument endeffector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery. Although there is ongoing research into force measurement involving surgical graspers little corresponding effort has been carried out on the measurement of forces between scissor blades and tissue. This paper presents the design and development of a force measurement test apparatus, which will serve as a sensor characterization and evaluation platform. The primary aim of the experiments is to ascertain whether the system can differentiate between tissue samples with differing mechanical properties in a reliable, repeatable manner. Force-angular displacement curves highlight trends in the cutting process as well the forces generated along the blade during a cutting procedure. Future applications of the test equipment will involve the assessment of ...

https://arrow.dit.ie/engschmanart/2

Marked Mark

Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-effector Applications (2009)

Callaghan, Dean; McGrath, Mark; Rajan, Ginu; Coyle, Eugene; Semenova, Yuliya; Farrell, ...

Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-effector Applications (2009)

Callaghan, Dean; McGrath, Mark; Rajan, Ginu; Coyle, Eugene; Semenova, Yuliya; Farrell, Gerald

Abstract:

Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the ef-fectiveness of advanced optical sensing technology (Fiber Bragg Grating) as sur-gical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for ef-fective strain transfer and ensuring compactness of the resulting sensing arrange-ment. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhe-sive layers. Detailed analysis of the sensing scheme is facilitated through the use of FEA. Validation of the resulting models is achieved through experimentation carried out on an application-specific evaluation platform. Results show that strain values from an FBG are comparable to...

https://arrow.dit.ie/engschmanbk/1

Marked Mark

Comparing FBG and PCF Force Sensors in a Laparoscopic Smart Surgical Scissor Instrument (2011)

Callaghan, Dean; Rajan, Ginu; McGrath, Mark; Coyle, Eugene; Semenova, Yuliya; Farrell, ...

Comparing FBG and PCF Force Sensors in a Laparoscopic Smart Surgical Scissor Instrument (2011)

Callaghan, Dean; Rajan, Ginu; McGrath, Mark; Coyle, Eugene; Semenova, Yuliya; Farrell, Gerald

Abstract:

This paper presents a sensorized laparoscopic surgical scissor instrument using both a fiber Bragg grating (FBG) and a tapered photonic crystal fiber (PCF) as force sensors. The sensors are located on the blades for the detection of interaction forces generated between the instrument and tissue during cutting. The force sensitivity of each sensorized blade is examined. Results show that the scissor blade-PCF sensor arrangement outperforms the blade with the FBG during static loading calibration experimentation. Moreover, experiments show that the PCF based arrangement is less sensitive to temperature effects than its FBG counterpart. This negates the need for additional temperature compensation sensors and techniques. The PCF sensor was shown to have higher strain measurement sensitivity (2 pm/με) than the FBG sensor (1.2pm/με).

https://arrow.dit.ie/engschmanconn/26

Marked Mark

Force Measurement and Evaluation for Surgical Cutting Applications: Development of an Effective Characterisation Testbed (2008)

Callaghan, Dean

Force Measurement and Evaluation for Surgical Cutting Applications: Development of an Effective Characterisation Testbed (2008)

Callaghan, Dean

Abstract:

Sensorized instruments that cater for accurate measurement of the interaction forces (between biological tissue and instrument end-effector) during surgical procedures offer surgeons a greater sense of immersion during minimally invasive robotic surgery (MIRS). There is much ongoing research into force measurement/evaluation involving surgical graspers. However, comparatively little corresponding effort has been expended in the measurement and subsequent evaluation of forces between scissor blades and tissue. This paper presents the design and development of a force/strain measurement test apparatus, which will ultimately serve as an effective sensor characterisation and evaluation platform. Data acquired from the testing platform can be used to differentiate between tissue samples with differing mechanical properties in a reliable, repeatable manner. PVA cryogel samples which have been exposed to differing freeze-thaw cycles, giving properties similar to those of biological tissue ...

https://arrow.dit.ie/engschmanconn/20

Marked Mark

Force Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture (2008)

Callaghan, Dean; McGrath, Mark; Coyle, Eugene

Force Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture (2008)

Callaghan, Dean; McGrath, Mark; Coyle, Eugene

Abstract:

Haptic feedback in telesurgical applications refers to the relaying of position and force information from a remote surgical site to the surgeon in real-time during a surgical procedure. This feedback, coupled with visual information via microscopic cameras, has the potential to provide the surgeon with additional ‘feel’ for the manipulations being performed at the instrument-biological tissue interface. This increased sensitivity has many associated benefits which include, but are not limited to; minimal tissue damage, reduced recuperation periods, and less patient trauma. The inclusion of haptic feedback leads to reduction in surgeon fatigue which contributes to enhanced performance during operation. Commercially available Minimally Invasive Robotic Surgical (MIRS) systems are being widely used, the best-known examples being from the daVinci® by Intuitive Surgical Inc. However, currently these systems do not possess force feedback capability which therefore restricts their use dur...

https://arrow.dit.ie/biomart/2

Marked Mark

Force Sensing Surgical Scissor Blades using Fibre Bragg Grating Sensors (2013)

Callaghan, Dean

Force Sensing Surgical Scissor Blades using Fibre Bragg Grating Sensors (2013)

Callaghan, Dean

Abstract:

This thesis considers the development and analysis of unique sensorised surgical scissor blades for application in minimally invasive robotic surgery (MIRS). The lack of haptic (force and tactile) feedback to the user is currently an unresolved issue with modern MIRS systems. This thesis presents details on smart sensing scissor blades which enable the measurement of instrument-tissue interaction forces for the purpose of force reflection and tissue property identification. A review of current literature established that there exists a need for small compact, biocompatible, sterilisable and robust sensors which meet the demands of current MIRS instruments. Therefore, the sensorised blades exploit the strain sensing capabilities of a single fibre Bragg grating (FBG) sensor bonded to their surface. The nature and magnitude of the strain likely to be experienced by the blades, and consequently the FBG sensor, while cutting soft tissue samples were characterised through the use of an ap...

https://arrow.dit.ie/engdoc/59

Marked Mark

Investigation and Experimental Measurement of Scissor Blade Cutting Forces Using Fiber Bragg Grating Sensors. (2011)

Callaghan, Dean; Rajan, Ginu; McGrath, M; Coyle, Eugene; Semenova, Yuliya; Farrell, Gerald

Investigation and Experimental Measurement of Scissor Blade Cutting Forces Using Fiber Bragg Grating Sensors. (2011)

Callaghan, Dean; Rajan, Ginu; McGrath, M; Coyle, Eugene; Semenova, Yuliya; Farrell, Gerald

Abstract:

This paper investigated the application of FBG sensors in the measurement of scissor blade–tissue interaction forces. Sensor placement at the blade–tissue interaction site provides the basis for increased force measurement accuracy, without compromising the functionality of the instrument. This increased accuracy provided the foundation for in-depth analysis of the force components generated during typical scissor cutting cycles. Theoretical analysis and experimental investigation explored the decoupling of the major forces present during cutting. The isolation of tissue-fracture forces from inter-blade friction forces was carried out. This is useful as knowledge of the fracture properties of biological tissues can be diff cult to obtain. Moreover, the force information obtained can be ref ected to the user in a telerobotic application ensuring a greater sense of user immersion. Scissor cutting force data is of particular relevance to those involved in the development of soft tissue...

https://arrow.dit.ie/engscheceart/124