A Novel Flexible Forceps With FBG-Based Force-Sensing and Feedback for Endoscopic Surgery

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

IEEE Sensors Journal Pub Date : 2025-06-26 DOI:10.1109/JSEN.2025.3581568

Jinxiu Guo;Baojun Chen;Zheng Zhang;Chengyu Zhang;Chi Zhang;Siyang Zuo

引用次数: 0

Abstract

Endoscopic submucosal dissection (ESD) is an effective treatment for early gastrointestinal (GI) tract cancers. However, existing endoscopic instruments lack force-sensing and feedback control capability, potentially leading to serious complications. In this work, we developed novel four degrees of freedom (DOF) flexible forceps capable of sensing both clamping and dragging forces. The compact and conformal design integrates two fiber Bragg grating (FBG)-based clamping force-sensing units (CFSUs) and one FBG-based dragging force-sensing unit (DFSU). These units achieve high resolutions of 0.76 mN (clamping) and 5.88 mN (dragging), excellent dynamic force tracking precision and temperature compensation capability. By combining the flexible forceps with a haptic device, we implemented a proportional leader-follower force feedback control method, whose feasibility was successfully verified through ex vivo experiments.

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一种新型的基于fbg力传感和反馈的内窥镜手术柔性钳

内镜下粘膜剥离术（ESD）是早期胃肠道肿瘤的有效治疗方法。然而，现有的内窥镜仪器缺乏力传感和反馈控制能力，可能导致严重的并发症。在这项工作中，我们开发了一种新颖的四自由度（DOF）柔性钳，能够感应夹紧力和拖拽力。紧凑的保形设计集成了两个基于光纤布拉格光栅（FBG）的夹紧力传感单元（cfsu）和一个基于光纤布拉格光栅（FBG）的拖拽力传感单元（DFSU）。这些单元实现了0.76 mN（夹紧）和5.88 mN（拖动）的高分辨率，具有出色的动态力跟踪精度和温度补偿能力。将柔性钳与触觉装置相结合，实现了一种比例先导-从动力反馈控制方法，并通过离体实验成功验证了其可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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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