Title :
A fiberoptic force-torque-sensor for minimally invasive robotic surgery
Author :
Haslinger, Robert ; Leyendecker, Patrick ; Seibold, Ulrich
Author_Institution :
Robot. & Mechatron. Center, German Aerosp. Center (DLR), Wessling, Germany
Abstract :
This document presents the design of a 6-degree of freedom fiberoptic force-torque-sensor for integration in instruments for minimally invasive robotic surgery. The measuring system based on fiber Bragg gratings as well as the calibration procedure are explained. Measurement properties of the sensor are verified in a test setup.
Keywords :
Bragg gratings; calibration; fibre optic sensors; force sensors; measurement systems; medical robotics; surgery; calibration procedure; fiber Bragg gratings; fiberoptic force-torque-sensor design; instruments integration; measuring system; minimally invasive robotic surgery; sensor measurement property; Calibration; Fiber gratings; Force; Robot sensing systems; Strain; Temperature sensors;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631199
