The MUSHA underactuated hand for robot-aided minimally invasive surgery

Multichannel Approach for Arrayed Waveguide Grating-Based FBG Interrogation Systems

In this manuscript, an optically passive fiber Bragg grating (FBG) interrogation system able to perform high-frequency measurement is proposed. The idea is mainly based on the use of an arrayed waveguide grating (AWG) device which is used to discriminate the fiber optic sensor (FOS) wavelength encoded response under test in function of its output channels. As made clear by the theoretical model studied in the proposed manuscript, the Bragg wavelength shift can be detected as in linear dependence with the proposed interrogation function which changes with the voltage produced by two (or more) adjacent AWG output channels. To prove the feasibility of the system, some experimental analyses are conducted with a custom electrical module characterized by high-speed and low-noise operational amplifiers. As static measurements, three FBGs with different full width at half maximum (FWHM) have been monitored under wide-range wavelength variation; while, as dynamic measurement, one FBG, glued onto a metal plate, in order to sense the vibration at low and high frequency, was detected. The output signals have been processed by a digital acquisition (DAQ) board and a graphical user interface (GUI). The presented work highlights the characteristics of the proposed idea as competitor among the entire class of interrogation systems currently used. This is because here, the main device, that is the AWG, is passive and reliable, without the need to use modulation signals, or moving parts, that affect the speed of the system. In addition, the innovative multi-channel detection algorithm allows the use of any type of FOS without the need to have a perfectly match of spectra. Moreover, it is also characterized by a high dynamic range without loss of sensitivity.

Haptics in Teleoperated Medical Interventions: Force Measurement, Haptic Interfaces and Their Influence on User's Performance

OBJECTIVES

Haptics in teleoperated medical interventions enables measurement and transfer of force information to the operator during robot-environment interaction. This paper provides an overview of the current research in this domain and guidelines for future investigations.

METHODS

We review current technologies in force measurement and haptic devices as well as their experimental evaluation and influence on user's performance.

RESULTS

Force sensing is moving away from the conventional proximal measurement methods to distal sensing and contact-less methods. Wearable devices that deliver haptic feedback on different body parts are increasingly playing an important role. Performance and accuracy improvement are the widely reported benefits of haptic feedback, while there is a debate on its effect on task completion time and exerted force.

CONCLUSION

With the surge of new ideas, there is a need for better and more systematic validation of the new sensing and feedback technology, through better user studies and novel methods like validated benchmarks and new taxonomies.

SIGNIFICANCE

This review investigates haptics from sensing to interfaces within the context of user's performance and the validation procedures to highlight salient advances. It provides guidelines to future developments and highlights the shortcomings in the field.