Abstract
During the transbronchial lung biopsy (TBLB), the bronchoscope may easily collide with the airway, which can cause damage. In order to improve the safety of the surgery, this paper puts forward a tactile sensor integrated at the end of the flexible bronchoscope. It can be used to detect the radial force, axial force and contact position of the bronchoscope when it enters the airway. The sensor is sandwich design, with 4 fiber Bragg grating (FBG) arranged in the middle flexible layer. Through theoretical analysis and simulation verification, it is obtained that the radial force and axial force are proportional to the change of FBG wavelength. And the contact position can be obtained from the relationship between the FBG wavelength variation. It is proved that the proposed sensor can be used for the force and position detection. It lays a foundation for the safe control of clinical bronchoscopy.
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Zhang, Y., Jiang, Q., Wang, F., Wang, J. (2023). FBG Tactile Sensor Integrated on Bronchoscope for Force and Contact Position Sensing. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_4
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DOI: https://doi.org/10.1007/978-981-99-6495-6_4
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