RESUMEN
We demonstrate a simple-to-fabricate refractometer based on the inscription of fiber Bragg gratings in a special C-shaped optical fiber. The C-shaped fiber was drawn into shape using a quarter cladding removed preform of a commercial standard single-mode fiber by simple machining. The sensor did not suffer from cross-sensitivity of the refractive index with ambient temperature fluctuations, commonly occurring with many optical fiber refractometers. A refractive index sensitivity of 1300 pm per refractive index unit (RIU) was achieved without employing any additional sensitization techniques such as tapering or etching.
RESUMEN
We present a novel superstructure fiber Bragg grating fiber end sensor capable of detecting variations in refractive index (RI) of liquids and potentially that of gases, and demonstrated an application in the detection of heavy metal ions in water. The sensor is capable of sensing RI variations in the range of 1.333 to 1.470 with good sensitivity of up to 230 dB/RIU achieved for the RI range of 1.370 to 1.390. The sensor is capable of simultaneously measuring variations in ambient temperature along with RI. A simple chemical coating was employed as a chelating agent for heavy metal ion detection at the fiber end to demonstrate an possible application of the sensor. The coated fiber sensor can conclusively detect the presence of heavy metal ions with concentrations upwards of 100 ppm. RI sensing capability of the sensor is neither affected by temperature nor strain and is both robust and easily reproducible.
RESUMEN
Haptic feedback for flexible endoscopic surgical robots is challenging due to space constraints for sensors and shape-dependent force hysteresis of tendon-sheath mechanisms (TSMs). This paper proposes (1) a single-axis fiber Bragg grating (FBG)-based force sensor for a TSM of a robotic arm and (2) an integrated sensor-model approach to estimate forces on other TSMs of that arm. With a robust and simple structure, a temperature-compensated sensor can be mounted on the distal sheath to measure forces applied by the TSM. This proposed sensor was integrated with a Ø4.2 mm articulated robotic arm driven by six TSMs, with a measurement error of 0.37 N in this work. The measurement from the single sensor was used to identify parameters in the force-transmission models of all other TSMs in the robot, realizing a one-sensor-for-all-distal-forces measurement method. The sensor-model approach could accurately estimate the distal force with an RMSE of 0.65 N. An animal study was carried out to demonstrate the sensor's feasibility in real-life surgery. The sensor-model approach presented a robust, space-saving, and cost-effective solution for haptic feedback of endoscopic robots without any assumption on the shapes of the robot.