NDLI: Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results

Content Provider	IEEE Xplore Digital Library
Author	Xingchi He Gehlbach, P. Handa, J. Taylor, R. Iordachita, I.
Copyright Year	2014
Description	Author affiliation: Mech. Eng. Dept., Johns Hopkins Univ., Baltimore, MD, USA (Xingchi He; Iordachita, I.) \|\| Comput. Sci. Dept., Johns Hopkins Univ., Baltimore, MD, USA (Taylor, R.) \|\| Dept. of Ophthalmol., Sch. of Med., Johns Hopkins Univ., Baltimore, MD, USA (Gehlbach, P.; Handa, J.)
Abstract	Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new flexure is developed to achieve high axial force sensing sensitivity and low crosstalk noise. The force sensing segment of the tool, located directly proximal to the tool tip, is ø0.9×8 mm. An extensive calibration shows that the force sensor can measure the transverse and axial force up to 21 mN with 0.5 mN and 3.3 mN accuracy, respectively. The new flexure design demonstrates the potential to improve axial force sensing. Analysis of the experiment results suggests improvements for the future iteration.
Starting Page	252
Ending Page	258
File Size	1737772
Page Count	7
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913785
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Instruments Force Surgery Robot sensing systems Calibration Manganese
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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