Development of a Fiber Bragg Grating-based Force Sensor for Minimally Invasive Surgery —Case Study of Ex-vivo Tissue Palpation

In this paper, a one-dimensional distal force sensor design is proposed for minimally invasive surgery based on fiber Bragg grating (FBG) sensing principle. The made with miniaturized force-sensitive flexure within which an optical embedded. former includes spiral elastomer utilized high axial sensitivity, while the dual FBGs that are tightly suspended around parts of and along elastomer’s centerline, respectively. Theoretical model was derived its components approach decoupling strain temperature cross-effects during usage. addition, parameters were analyzed physics-based optimization using fmincon function, static dynamic properties in-silico finite element method. Further experiments also carried out to analyze sensor’s performance, data obtained used calibration study. latter done by training feed-forward neural network designed predicting vs. wavelength-shift relationship. experimental results show can sense values in range 1N average relative error less than 2% full scale. Ex-vivo tissue palpation further pig liver organs verify effectiveness applicability surgery.