FBG-Based Triaxial Force Sensor Integrated with an Eccentrically Configured Imaging Probe for Endoluminal Optical Biopsy
Zicong Wu,Anzhu Gao,Ning Liu,Zhu Jin,Guang-Zhong Yang,Zicong Wu,Anzhu Gao,Ning Liu,Zhu Jin,Guang-Zhong Yang
Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lumen for the interventional instrument, enabling a flexible imaging probe inside to perform optical bi...
