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• W4386702941 abstract "Endoscopic Submucosal Dissection (ESD) is an advanced endoscopic technique with renowned clinical benefits but still a challenging procedure. The lack of force-feedback leading to insufficient or excessive contact force between the tip of the knife and the tissue, i.e ineffective treatment or dangerous perforation, makes ESD requiring a high level of expertise and dexterity to master it, especially for trainees. In this paper, we propose to enhance the training in ESD by integrating Fiber Bragg Gratings (FBGs) as 3 degrees-of-freedom optical force sensors into the polymer catheter of the electrosurgical knife aiming to measure F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>x</sub> , F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>y</sub> and F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>z</sub> . 3 FBGs are placed circumferentially to the section of the catheter using nitinol tubes and a 2-point pasting method. A force calibration test bench was specifically designed to calibrate the force sensor in 30 3D spatial directions that cover most of its use cases. Non-linear regression models were implemented to tackle the non-linearities between the wavelength shifts of the FBGs and the forces applied, inherent to prototyping errors and non-linearity of the soft material. A hybrid model made of mono-and bi-layered neural networks for the prediction of F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>x</sub> and F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>y</sub> and a support vector regression for the prediction of F <sub xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>z</sub> was built and showed root-mean-square error (RMSE) along transverse directions (XY) less than 3% of the full scale [-500; 500] mN and RMSE less than 10% along the axial direction (Z). These models were also verified in dynamic conditions. The results are promising and satisfying all the technical requirements." @default.
• W4386702941 created "2023-09-14" @default.
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• W4386702941 date "2023-10-15" @default.
• W4386702941 modified "2023-10-18" @default.
• W4386702941 title "Tri-Axial Force Sensor in a Soft Catheter Using Fiber Bragg Gratings for Endoscopic Submucosal Dissection" @default.
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• W4386702941 doi "https://doi.org/10.1109/jsen.2023.3313172" @default.
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