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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237580
