DocumentCode
2041308
Title
Research on force sensing system for a colonoscopy robot
Author
Xiaoxiao Feng ; Haiyan Hu ; Hongmiao Zhang ; Chunguang Li ; Xiaowei Cai ; Lining Sun
Author_Institution
Sch. of Mech. & Electr. Eng., Soochow Univ., Suzhou, China
fYear
2015
fDate
2-5 Aug. 2015
Firstpage
755
Lastpage
760
Abstract
A force-sensing system for a colonoscopy robot is proposed. It undertakes a modular design, composed of strain gauges. This paper first makes a modeling and simulation analysis of surface deformation for the colonoscopy robot. And then, based on the results of the analysis, the structural design of the sensor is improved. Finally, after designing a pressure sensing and signaling circuit, an experiment done on identifying the sensor parameter is described. The acceptable performances of the force sensing system are verified through experiments.
Keywords
force sensors; medical robotics; patient treatment; strain gauges; colonoscopy robot; force sensing system; pressure sensing circuit; sensor parameter identification; sensor structural design; signaling circuit; strain gauges; surface deformation; Colonoscopy; Force; Robot sensing systems; Strain; Colonoscopy; force-sensing; pressure sensor;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4799-7097-1
Type
conf
DOI
10.1109/ICMA.2015.7237580
Filename
7237580
Link To Document