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Force perception on medical instruments is critical for understanding themechanism between surgical tools and tissues for feeding back quantized forceinformation, which is essential for guidance and supervision in roboticautonomous surgery. Especially for continuous curvilinear capsulorhexis (CCC),it always lacks a force measuring method, providing a sensitive, accurate, andmulti-dimensional measurement to track the intraoperative force. Furthermore,the decoupling matrix obtained from the calibration can decorrelate signalswith acceptable accuracy, however, this calculating method is not a strong wayfor thoroughly decoupling under some sensitive measuring situations such as theCCC. In this paper, a three-dimensional force perception method oncapsulorhexis forceps by installing Fiber Bragg Grating sensors (FBGs) onprongs and a signal decoupling method combined with FASTICA is first proposedto solve these problems. According to experimental results, the measuring rangeis up to 1 N (depending on the range of wavelength shifts of sensors) and theresolution on x, y, and z axial force is 0.5, 0.5, and 2 mN separately. Tominimize the coupling effects among sensors on measuring multi-axial forces, byunitizing the particular parameter and scaling the corresponding vector in themixing matrix and recovered signals from FastICA, the signals from sensors canbe decorrelated and recovered with the errors on axial forces decreasing up to50% least. The calibration and calculation can also be simplified with half theparameters involved in the calculation. Experiments on thin sheets and in vitroporcine eyes were performed, and it was found that the tearing forces werestable and the time sequence of tearing forceps was stationary or first-orderdifference stationary during roughly circular crack propagating.

An Intraoperative Force Perception and Signal Decoupling Method on Capsulorhexis Forceps