DocumentCode
3526320
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
fYear
2013
fDate
6-10 May 2013
Firstpage
4390
Lastpage
4395
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6631199
Filename
6631199
Link To Document