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Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery
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10.1063/1.3606502
/content/aip/journal/rsi/82/7/10.1063/1.3606502
http://aip.metastore.ingenta.com/content/aip/journal/rsi/82/7/10.1063/1.3606502
View: Figures

Figures

Image of FIG. 1.
FIG. 1.

Configuration of the manipulator.

Image of FIG. 2.
FIG. 2.

Sensor kinematics, Cross section of sensor and developed sensor.

Image of FIG. 3.
FIG. 3.

Schematic diagram of measuring system.

Image of FIG. 4.
FIG. 4.

(a) Signals of the voltage and the location. (b) Noises of the wavelength change with two methods.

Image of FIG. 5.
FIG. 5.

(a) Voltage change induced by temperature (general). (b) Force induced by temperature.

Image of FIG. 6.
FIG. 6.

(a) Voltage change induced by temperature (local). (b) Force induced by temperature (local).

Image of FIG. 7.
FIG. 7.

Characteristics of the sensor for intended loading.

Image of FIG. 8.
FIG. 8.

Experimental Setup.

Image of FIG. 9.
FIG. 9.

(a) Real time observation of the sequential force of the X-axis. (b) Hysteresis of (a).

Image of FIG. 10.
FIG. 10.

(a) Real time observation of the random force of the X-axis. (b) Hysteresis of (a).

Image of FIG. 11.
FIG. 11.

(a) Real time observation of the sequential force of the Y-axis. (b) Hysteresis of (a).

Image of FIG. 12.
FIG. 12.

(a) Real time observation of the random force of the Y-axis. (b) Hysteresis of (a).

Image of FIG. 13.
FIG. 13.

(a) Measured force of Z-axis. (b) Scaled force of Z-axis.

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/content/aip/journal/rsi/82/7/10.1063/1.3606502
2011-07-19
2014-04-17
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752b84549af89a08dbdd7fdb8b9568b5 journal.articlezxybnytfddd
Scitation: Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery
http://aip.metastore.ingenta.com/content/aip/journal/rsi/82/7/10.1063/1.3606502
10.1063/1.3606502
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