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A rigid body subjected to three forces acting at three points is known as a three-force member. These forces must have concurrent lines of action, except for parallel forces, where the lines of action are parallel.
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Miniature FBG force sensor capable of effectively resisting lateral forces.

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    This study introduces a miniature fiber Bragg grating (FBG) force sensor for minimally invasive surgery (MIS) palpation. The novel sensor accurately measures axial contact force (CF) and demonstrates superior lateral force resistance.

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    Area of Science:

    • Biomedical Engineering
    • Optical Sensing Technologies
    • Minimally Invasive Surgery

    Background:

    • Accurate intraoperative force feedback is crucial for tissue interaction during minimally invasive surgery (MIS).
    • Existing force sensors often lack the miniaturization required for integration into delicate surgical instruments.
    • Fiber Bragg Grating (FBG) sensors offer potential for high-precision, compact force measurement.

    Purpose of the Study:

    • To develop and validate a high-precision, miniature FBG-based force sensor for measuring axial contact force (CF) during MIS palpation.
    • To enhance sensor sensitivity to axial forces while mitigating interference from lateral forces and temperature fluctuations.
    • To demonstrate the sensor's capability in detecting tissue abnormalities and differentiating tissue hardness in simulated surgical conditions.

    Main Methods:

    • Designed a miniature FBG force sensor (1.5 mm diameter) with a novel staggered inclined notch elastomer structure and two optical fibers for differential measurement.
    • Inscribed FBGs on separate fibers to distinguish axial force and temperature effects (FBG1) from temperature-only effects (FBG2).
    • Performed calibration, temperature compensation, and simulated palpation experiments using tissue-mimicking phantoms.

    Main Results:

    • The sensor achieved high sensitivity (270.809 pm/N) for axial CF measurement within a 0-1.4 N range.
    • Post-temperature compensation, the dynamic measurement error was <0.2 g, and the error was <0.08 N.
    • Simulated palpation successfully detected abnormalities and differentiated tissue hardness, with excellent lateral force resistance compared to traditional sensors.

    Conclusions:

    • The developed miniature FBG force sensor provides accurate and reliable axial CF measurement for MIS palpation.
    • The sensor's design effectively decouples temperature effects and exhibits robust resistance to lateral forces.
    • This technology holds promise for improving surgical precision and safety in MIS procedures.