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An Enhanced Modular Force Sensor with Particle Filter for Minimally Invasive Telesurgical Research

Li, Xiangru
http://rave.ohiolink.edu/etdc/view?acc_num=case1717507245093194

Abstract Details

2024, Master of Sciences, Case Western Reserve University, EECS - Electrical Engineering.
This thesis presents the development of an enhanced modular 3-degree-of-freedom (DoF) force sensor integrated with a particle filter, tailored for providing optimized force measurement in robot-assisted minimally invasive surgery (RMIS) researches. The sensor's advanced electromechanical design features an employment of Flexible Printed Circuit Board (FPCB) with Flat Flex Cable (FFC) connectors, alongside novel insert layers between the load cell arrays and the force plate, aiming at an improvement in the robustness with a non-monolithic design. The integration of a particle filter addresses the inaccuracies in joint angles, substantially refining the precision with which forces are resolved into the robot reference frame. Experimental results affirm that this sensor provides fine accuracy of force measurements due to its enhanced design and the integration of the particle filter, suggesting promising avenues for future research, particularly as potential means of providing the ground truth training data for the implementation of supervised machine learning force estimation methods.
Zonghe Chua (Advisor)
Orhan Ozguner (Committee Member)
Alexis E. Block (Committee Member)
M. Cenk Çavuşoğlu (Committee Member)
41 p.
Electrical Engineering; Robotics

Recommended Citations

Citations

  • Li, X. (2024). An Enhanced Modular Force Sensor with Particle Filter for Minimally Invasive Telesurgical Research [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1717507245093194

    APA Style (7th edition)

  • Li, Xiangru. An Enhanced Modular Force Sensor with Particle Filter for Minimally Invasive Telesurgical Research. 2024. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1717507245093194.

    MLA Style (8th edition)

  • Li, Xiangru. "An Enhanced Modular Force Sensor with Particle Filter for Minimally Invasive Telesurgical Research." Master's thesis, Case Western Reserve University, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1717507245093194

    Chicago Manual of Style (17th edition)

case1717507245093194
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© 2024, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.