Stiffness Assessment in tissue grasping using surgical tool integrated with Fiber Bragg Grating Sensor

Abstract

This paper presents an investigation into tissue grasping dynamics utilizing a novel approach with a polydimethylsiloxane (PDMS) embedded fiber Bragg grating (FBG) sensor. The study aims to characterize the mechanical behavior of tissues during grasping maneuvers, comparing the effects of finger and palm grasping techniques. Four distinct tissue sample models, including PVC, foam, silicone rubber, and plexiglass, were employed to replicate tissue properties. The PDMS embedded FBG sensor facilitated real-time monitoring of wavelength shifts, enabling the calculation of strain during grasping. From the resultant force and strain data, tissue stiffness was quantified. Notably, the results revealed significant differences in tissue stiffness between finger and palm grasping, with higher forces observed during palm grasping. This investigation sheds light on the mechanical interactions between tissues and grasping instruments, providing valuable insights for the development of advanced surgical tools and robotics applications.