Combining shape sensor and haptic sensors for highly flexible single port system using Fiber Bragg sensor technology

摘要

Single port surgery is a promising approach to further optimize the benefits of robot assisted minimally invasive surgery. Advantages include further minimization of trauma and reduction of scars, but it also increases the need for flexible, high-end instruments and miniaturized sensors. This paper describes a new concept of a miniaturized sensor system which combines a kinesthetic sensor, a tactile sensor and a position sensor. Latter is realized as a shape sensor. The combination of the sensors is possible because they are all based on Fiber Bragg Grating technology. A concept for each sensor is also presented. They are improved compared to current research and adapted to our needs. The miniaturized sensor system is integrated into an innovative, highly flexible single port system.