{"id":2397,"date":"2016-12-28T20:54:24","date_gmt":"2016-12-28T20:54:24","guid":{"rendered":"http:\/\/bioeng.nus.edu.sg\/mm\/?p=2397"},"modified":"2016-12-28T20:54:24","modified_gmt":"2016-12-28T20:54:24","slug":"ftsensorcath","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/projects\/ftsensorcath\/","title":{"rendered":"Force\/Torque Sensor for Tele-operated Catheterization Procedures"},"content":{"rendered":"<h2>Abstract<\/h2>\n<p>A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force\/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and torque sensing device suitable for catheterization procedures to measure the proximal force\/torque signals of the input catheter. The device consists of a rotatable and linear retractable mechanism, a laser mouse sensor, and a coil spring. As the stretched, compressed, and twisted values vary due to the sliding joint, the force and torque signals can be computed based on the Hooke&#8217;s law. The proposed sensing device has many advantages such as cost-effective, easily miniaturized and customized, and can be extended to the MRI compatible sensors. The experimental results with step response and time-varying loads by comparing to an ATI Nano17 force\/torque sensor show that the Root Mean Squared Error (RMSE) for force and torque measurement are 0.042 N and 0.228 mNm respectively.<br \/>\n<a href=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2016\/12\/Figure1b.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2016\/12\/Figure1b-300x204.png\" alt=\"\" width=\"300\" height=\"204\" class=\"alignnone size-medium wp-image-2399\" srcset=\"http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/Figure1b-300x204.png 300w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/Figure1b-514x350.png 514w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/Figure1b-150x102.png 150w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2016\/12\/Figure1b.png 723w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<h2>Video PPT demo<\/h2>\n<p><iframe loading=\"lazy\"  id=\"_ytid_89801\"  width=\"920\" height=\"518\"  data-origwidth=\"920\" data-origheight=\"518\" src=\"https:\/\/www.youtube.com\/embed\/dOEenZ_5FPI?enablejsapi=1&#038;autoplay=0&#038;cc_load_policy=0&#038;cc_lang_pref=&#038;iv_load_policy=1&#038;loop=0&#038;rel=1&#038;fs=1&#038;playsinline=0&#038;autohide=2&#038;theme=dark&#038;color=red&#038;controls=1&#038;\" class=\"__youtube_prefs__  epyt-is-override  no-lazyload\" title=\"YouTube player\"  allow=\"fullscreen; accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen data-no-lazy=\"1\" data-skipgform_ajax_framebjll=\"\"><\/iframe><\/p>\n<h2>Publications<\/h2>\n<p>J. Guo; M. Li; P. Ho &amp; H. Ren Design and Performance Evaluation of a Force\/Torque Sensor for Tele-operated Catheterization Procedures IEEE Sensors Journal, 2016, PP, 1-8<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Abstract A tele-operated robotic catheterization system can significantly alleviate the surgeons from radiation exposure and fatigue resulted from long standing time with protective suits. Proximal force\/torque signals imply the critical information about the contact forces between the catheter and its surrounding structures. This paper presents a compact, cost-effective force and\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/projects\/ftsensorcath\/\">Continue reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[44,9],"tags":[54,64,68,85,93,95],"class_list":["post-2397","post","type-post","status-publish","format-standard","hentry","category-navigation","category-projects","tag-catheterization","tag-forcetorque-sensing","tag-hri-human-robot-interaction","tag-sensor","tag-spring","tag-surgical-robotics"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2397","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=2397"}],"version-history":[{"count":0,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2397\/revisions"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=2397"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=2397"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=2397"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}