Development of a 6-DoF FBG force–moment sensor for a haptic interface with minimally invasive robotic surgery

A new and precise 6-Degree-of-freedom (DoF) Fiber Bragg grating (FBG) force–moment sensor integrated with a platform frame was proposed for the haptic feedback of loadings at the tip cutting tools of end-effectors of a minimally invasive surgical robot. As the platform deformed during surgery, the attached FBG pretensioned with 2000 μm strain. Strains were calculated by Finite element analyses (FEAs) and related to optical wavelength equations. Experiments integrated with sagacious ways of how to apply forces and moments for the sensor fabricated were conducted to measure the strains and wavelength changes caused in FBGs. Experimental wavelength changes correlated well in 3% to 4% error with the FEA results for all cases. A realistic design of a small 6-DoF FBG force–moment sensor was proposed using the analytic method. Wavelength changes slightly increased as temperature increased in the study of thermal compensation.