Fiber Optical Sensor System for Shape and Haptics for Flexible Instruments in Minimally Invasive Surgery: Overview and Status Quo

摘要

In minimally invasive surgery, flexible mechatronic instruments promise to improve the overall performance of surgical interventions. However, those instruments require highly developed sensors in order to provide haptic feedback to the surgeon or to enable (semi-)autonomous tasks. Precisely, haptic sensors and a shape sensor are required. In this paper, we present our fiber optical sensor system of Fiber Bragg Gratings, which consists of a shape sensor, a kinesthetic sensor and a tactile sensor. The status quo of each of the three sensors is described, as well as the concept to integrate them into one fiber optical sensor system.