Abstract
This paper developed a layered six-axis FBG force/moment sensor to measure the force/moment during robot-assisted bone drilling. The design that eight unique C-shaped beams form a layered elastic structure and eight FBGs are mounted on the structure to sense six-axis force/moment, leads to low chirping risk and low fabrication cost. An in situ calibration method done with a robot and standard weight has been proposed to calibrate the designed sensor and overcome the performance degradation caused by installing and removing sensors. The calibration results that the sensor has excellent measurement accuracy with a relative error of 6.92%. A robot-assisted bone drilling test has been implemented to further prove the potential application of the proposed sensor and the in situ calibration method for high-precision Force/Moment measurement in surgical robots.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Staub, B.N., Sadrameli, S.S.: The use of robotics in minimally invasive spine surgery. J. Spine Surg. 5(Suppl 1), S31 (2019)
Lippross, S., et al.: Robot assisted spinal surgery-A technical report on the use of DaVinci in orthopaedics. J. Orthop. 19, 50–53 (2020)
Niesche, A., Müller, M., Ehreiser, F., Teichmann, D., Leonhardt, S., Radermacher, K.: Smart bioimpedance-controlled craniotomy: concept and first experiments. Proc. Inst. Mech. Eng. 231(7), 673–680 (2017)
Al-Abdullah, K.I., Lim, C.P., Najdovski, Z., Yassin, W.: A model-based bone milling state identification method via force sensing for a robotic surgical system. Int. J. Med. Robot. Comput. Assist. Surg. 15(3), e1989 (2019)
Doulgeris, J.J., Gonzalez-Blohm, S.A., Filis, A.K., Shea, T.M., Aghayev, K., Vrionis, F.D.: Robotics in neurosurgery: evolution, current challenges, and compromises. Cancer Control 22(3), 352–359 (2015)
Akinyemi, T.O., et al.: Fiber Bragg grating-based force sensing in robot-assisted cardiac interventions: a review. IEEE Sens. J. 21, 10317–10331 (2021)
Lai, W., et al.: Force sensing with 1 mm fiber bragg gratings for flexible endoscopic surgical robots. IEEE/ASME Trans. Mechatron. 25(1), 371–382 (2019)
Li, T., King, N.K.K., Ren, H.: Disposable FBG-based tridirectional force/torque sensor for aspiration instruments in neurosurgery. IEEE Trans. Industr. Electron. 67(4), 3236–3247 (2019)
Choi, H., Lim, Y., Kim, J.: Three-axis force sensor with fiber Bragg grating. In: 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 3940–3943. IEEE (2017)
Xiong, L., Guo, Y., Jiang, G., Zhou, X., Jiang, L., Liu, H.: Six-dimensional force/torque sensor based on fiber Bragg gratings with low coupling. IEEE Trans. Industr. Electron. 68(5), 4079–4089 (2020)
Andrade Chavez, F.J., Traversaro, S., Pucci, D.: Six-axis force torque sensor model-based in situ calibration method and its impact in floating-based robot dynamic performance. Sensors 19(24), 5521 (2019)
Sun, Y., Li, Y., Liu, Y., Liu, H.: An online calibration method for six-dimensional force/torque sensor based on shape from motion combined with complex algorithm. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), pp. 2631–2636. IEEE (2014)
Traversaro, S., Pucci, D., Nori, F.: In situ calibration of six-axis force-torque sensors using accelerometer measurements. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 2111–2116 IEEE (2015)
Chavez, F.J.A., Traversaro, S., Pucci, D., Nori, F.: Model based in situ calibration of six axis force torque sensors. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 422–427. IEEE (2016)
Cursi, F., Malzahn, J., Tsagarakis, N., Caldwell, D.: An online interactive method for guided calibration of multi-dimensional force/torque transducers. In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 398–405. IEEE (2017)
Roozbahani, H., Fakhrizadeh, A., Haario, H., Handroos, H.: Novel online re-calibration method for multi-axis force/torque sensor of ITER welding/machining robot. IEEE Sens. J. 13(11), 4432–4443 (2013)
Haslinger, R., Leyendecker, P., Seibold, U.: A fiberoptic force-torque-sensor for minimally invasive robotic surgery. In: 2013 IEEE International Conference on Robotics and Automation, pp. 4390–4395. IEEE (2013)
Golahmadi, A.K., Khan, D.Z., Mylonas, G.P., Marcus, H.J.: Tool-tissue forces in surgery: a systematic review. Ann. Med. Surg. 2, 102268 (2021)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Li, T., Chen, F., Su, Y. (2022). In Situ Calibration of a Six-Axis FBG Force/Moment Sensor for Surgical Robot. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_6
Download citation
DOI: https://doi.org/10.1007/978-3-031-13835-5_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-13834-8
Online ISBN: 978-3-031-13835-5
eBook Packages: Computer ScienceComputer Science (R0)