TY - GEN
T1 - A 3-axis optical force/torque sensor for prostate needle placement in magnetic resonance imaging environments
AU - Su, Hao
AU - Fischer, Gregory S.
PY - 2009
Y1 - 2009
N2 - The work presented in this paper has been performed in furtherance of developing an MRI (Magnetic resonance imaging) compatible .ber optical force sensor. In this paper, we discuss the design criteria and sensing principle of this optical sensor for monitoring forces in the 0-20 Newton range with an sub-Newton resolution. This instrumentation enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement. A novel .exure mechanism is designed and the finite element analysis is performed to aid the optimization of the design parameters. This 3 axis force/torque sensor with this range and resolution is an ideal tool for interventional procedures, e.g. needle biopsy and brachytherapy. The sensor is experimentally investigated and calibrated. Calibration results demonstrate that this sensor is a practical and accurate measurement apparatus.
AB - The work presented in this paper has been performed in furtherance of developing an MRI (Magnetic resonance imaging) compatible .ber optical force sensor. In this paper, we discuss the design criteria and sensing principle of this optical sensor for monitoring forces in the 0-20 Newton range with an sub-Newton resolution. This instrumentation enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement. A novel .exure mechanism is designed and the finite element analysis is performed to aid the optimization of the design parameters. This 3 axis force/torque sensor with this range and resolution is an ideal tool for interventional procedures, e.g. needle biopsy and brachytherapy. The sensor is experimentally investigated and calibrated. Calibration results demonstrate that this sensor is a practical and accurate measurement apparatus.
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U2 - 10.1109/TEPRA.2009.5339654
DO - 10.1109/TEPRA.2009.5339654
M3 - Conference contribution
AN - SCOPUS:71849093421
SN - 9781424449927
T3 - 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
SP - 5
EP - 9
BT - 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
T2 - 2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Y2 - 9 November 2009 through 10 November 2009
ER -