Patrick Leyendecker

A fiberoptic force-torque-sensor for minimally invasive robotic surgery

This document presents the design of a 6-degree of freedom fiberoptic force-torque-sensor for integration in instruments for minimally invasive robotic surgery. The measuring system based on fiber Bragg gratings as well as the calibration procedure are explained. Measurement properties of the sensor are verified in a test setup.

Fiber optic curvature sensor

A fiber optic curvature sensor based on discrete Fiber Bragg gratings inscribed in a multi-core fiber is presented. The individual cores of the multi-core fiber are each interrogated by a custom-built spectrometer running at up to 20 kHz. They are interfaced with a custom-tapered combiner of single-core fibers fusion spliced to the multi-core fiber. The curvature and bend direction for each fiber segment is obtained from the geometric relation of strain measurements in all interrogated fiber cores, thus eliminating temperature influences and minimizing noise. In order to reconstruct the shape of the measurement fiber, both constant curvature and spline interpolation using homogeneous transformation matrices are performed and compared to given free space equilibrium state solutions for a Kirchhoff elastic rod.