A Novel 6-DOF Flexible Instrument With High-Resolution Three-Axis Force Sensing Unit for Endoscopic Submucosal Dissection

IF 4.3 2区综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Sensors Journal Pub Date : 2025-02-26 DOI:10.1109/JSEN.2025.3542848

Chengyu Zhang;Jinxiu Guo;Baojun Chen;Siyang Zuo

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引用次数: 0

Abstract

Gastrointestinal (GI) cancers have a significant impact on human health due to their high mortality rate. In endoscopic submucosal dissection (ESD), surgical instruments require both sufficient flexibility and operational freedom, as well as a precise and sensitive force sensing function to avoid the risks associated with insufficient or excessive contact force between the tip and the tissue. These requirements pose significant challenges to the development of flexible surgical instruments with force sensing capabilities. In this work, we propose a 6-DOF flexible instrument based on tendon-actuated stacked-buckle joints. This instrument can achieve large hemispherical and cylindrical workspaces with a radius of 27 mm, and the measured tip positioning accuracy of the continuum is better than 0.36 mm. In addition, a fiber Bragg grating (FBG)-based three-axis force sensing unit is integrated into the distal end of the electric-knife instrument. The calibration experiment shows that the flexible instrument operates under three-axis force with high resolutions of 0.169, 0.172, and 0.398 mN for Fx, Fy, and Fz, respectively. The dynamic performance and temperature decoupling algorithm indicate that the proposed FBG sensing mechanism can accurately detect three-axis force. The ex vivo swine stomach ESD experiment has demonstrated the clinical application potential and practicality of the instrument.

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来源期刊

IEEE Sensors Journal 工程技术-工程：电子与电气

CiteScore

7.70

自引率

14.00%

发文量

2058

审稿时长

5.2 months

期刊介绍： The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice