3 research outputs found
FBG-Based Triaxial Force Sensor Integrated with an Eccentrically Configured Imaging Probe for Endoluminal Optical Biopsy
Accurate force sensing is important for endoluminal intervention in terms of
both safety and lesion targeting. This paper develops an FBG-based force sensor
for robotic bronchoscopy by configuring three FBG sensors at the lateral side
of a conical substrate. It allows a large and eccentric inner lumen for the
interventional instrument, enabling a flexible imaging probe inside to perform
optical biopsy. The force sensor is embodied with a laser-profiled continuum
robot and thermo drift is fully compensated by three temperature sensors
integrated on the circumference surface of the sensor substrate. Different
decoupling approaches are investigated, and nonlinear decoupling is adopted
based on the cross-validation SVM and a Gaussian kernel function, achieving an
accuracy of 10.58 mN, 14.57 mN and 26.32 mN along X, Y and Z axis,
respectively. The tissue test is also investigated to further demonstrate the
feasibility of the developed triaxial force senso
Progress in Probe-Based Sensing Techniques for In Vivo Diagnosis
Advancements in robotic surgery help to improve the endoluminal diagnosis and treatment with minimally invasive or non-invasive intervention in a precise and safe manner. Miniaturized probe-based sensors can be used to obtain information about endoluminal anatomy, and they can be integrated with medical robots to augment the convenience of robotic operations. The tremendous benefit of having this physiological information during the intervention has led to the development of a variety of in vivo sensing technologies over the past decades. In this paper, we review the probe-based sensing techniques for the in vivo physical and biochemical sensing in China in recent years, especially on in vivo force sensing, temperature sensing, optical coherence tomography/photoacoustic/ultrasound imaging, chemical sensing, and biomarker sensing