Document Type

Book Chapter


Available under a Creative Commons Attribution Non-Commercial Share Alike 4.0 International Licence


Medical engineering

Publication Details

Published in, "Advances in Robotic Research. Theory, Implementation, Application", Springer Verlag, Part 3, Pages 65-75, June 2009. ISBN 978-3-642-01212-9 (Print) 978-3-642-01213-6 (Online) Presented at "The German Workshop on Robotics 2009" Braunschweig, Germany, 9-10th June 2009.


Sensorized instruments which cater for the measurement of interaction forces during surgical procedures are not available on current commercial Minimally Invasive Robotic Surgical (MIRS) systems. This paper investigates the ef-fectiveness of advanced optical sensing technology (Fiber Bragg Grating) as sur-gical end effector strain/force sensors. The effects of adhesive bonding layer thickness and length are specifically addressed owing to their importance for ef-fective strain transfer and ensuring compactness of the resulting sensing arrange-ment. The strain transfer characteristics of the compound sensing arrangement are evaluated by the examination of shear transfer through the fiber coating and adhe-sive layers. Detailed analysis of the sensing scheme is facilitated through the use of FEA. Validation of the resulting models is achieved through experimentation carried out on an application-specific evaluation platform. Results show that strain values from an FBG are comparable to that of an electrical strain gauge sensor.