Force and Shape Sensing Needle

Описание: This tip-force sensing needle prototype can also sense its shape in real-time and compensate for temperature effects due to multiple sensors along its length.

The 3DOF tip force sensing needle with embedded fiber Bragg grating (FBG) sensors was inserted in a tissue phantom with multiple membranes. A 6-axis force/torque sensor was used to compare forces felt at the needle base, which are usually masked by friction and inertial effects, to the forces that the needle tip truly feels during insertion and membrane puncture.

Biomimetics & Dexterous Manipulation Laboratory
Stanford University