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A Fiberoptic Force-Torque-Sensor for Minimally Invasive Robotic Surgery

Haslinger, Robert and Leyendecker, Patrick and Seibold, Ulrich (2013) A Fiberoptic Force-Torque-Sensor for Minimally Invasive Robotic Surgery. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4375-4380. ICRA 2013, 06.-10. Mai 2013, Karlsruhe, Deutschland. ISBN 978-1-4673-5642-8

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Official URL: http://www.icra2013.org

Abstract

This document presents the design of a 6-degree of freedom fiberoptic force-torque-sensor for integration in instruments for minimally invasive robotic surgery. The measuring system based on fiber Bragg gratings as well as the calibration procedure are explained. Measurement properties of the sensor are verified in a test setup.

Item URL in elib:https://elib.dlr.de/86481/
Document Type:Conference or Workshop Item (Other)
Title:A Fiberoptic Force-Torque-Sensor for Minimally Invasive Robotic Surgery
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haslinger, RobertRobert.Haslinger (at) dlr.deUNSPECIFIED
Leyendecker, Patrickpatrick.leyendecker (at) dlr.deUNSPECIFIED
Seibold, UlrichUlrich.Seibold (at) dlr.deUNSPECIFIED
Date:6 May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 4375-4380
Series Name:Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA)
ISBN:978-1-4673-5642-8
Status:Published
Keywords:fiber-optic sensors, force/torque sensors
Event Title:ICRA 2013
Event Location:Karlsruhe, Deutschland
Event Type:international Conference
Event Dates:06.-10. Mai 2013
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Leyendecker, Patrick
Deposited On:14 Jan 2014 16:45
Last Modified:09 Feb 2017 19:19

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