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Analysis of Strain Transfer to FBG’s for Sensorized Telerobotic End-effector Applications |
Callaghan, Dean; McGrath, Mark; Rajan, Ginu; Coyle, Eugene; Semenova, Yuliya; Farrell, Gerald
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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 that of an electrical strain gauge sensor.
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Keyword(s):
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Strain; Force; Sensor; Fiber Bragg Grating; FBG; Haptic; Robotic; Surgery; Biomedical Devices and Instrumentation |
Publication Date:
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2009 |
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Type:
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Book chapter |
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Peer-Reviewed:
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Unknown |
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Institution:
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Dublin Institute of Technology |
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Citation(s):
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Books/Book chapters |
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Publisher(s):
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Dublin Institute of Technology |
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File Format(s):
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application/pdf |
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First Indexed:
2009-11-23 16:22:37 Last Updated:
2017-12-14 06:45:24 |
