Document Type

Conference Paper


This item is available under a Creative Commons License for non-commercial use only


2. ENGINEERING AND TECHNOLOGY, Robotics and automatic control, Medical engineering

Publication Details

Published online in the Proceedings of the Joint Workshop on New Technologies for Computer/Robot Assisted Surgery

The workshop was held between 11th and 13th July 2011 in the Graz University of Technology, Austria.


This paper presents a sensorized laparoscopic surgical scissor instrument using both a fiber Bragg grating (FBG) and a tapered photonic crystal fiber (PCF) as force sensors. The sensors are located on the blades for the detection of interaction forces generated between the instrument and tissue during cutting. The force sensitivity of each sensorized blade is examined. Results show that the scissor blade-PCF sensor arrangement outperforms the blade with the FBG during static loading calibration experimentation. Moreover, experiments show that the PCF based arrangement is less sensitive to temperature effects than its FBG counterpart. This negates the need for additional temperature compensation sensors and techniques. The PCF sensor was shown to have higher strain measurement sensitivity (2 pm/με) than the FBG sensor (1.2pm/με).