System for sensing a mechanical property of a sample

• US 9,863,825 B2
• Filed: 05/24/2016
• Issued: 01/09/2018
• Est. Priority Date: 10/26/2010
• Status: Active Grant

• Current Assignee: Javad Dargahi, Muthukumaran Packirisamy, Roozbeh Ahmadi
• Original Assignee: Javad Dargahi, Muthukumaran Packirisamy, Roozbeh Ahmadi
• Inventors: Packirisamy, Muthukumaran, Ahmadi, Roozbeh, Dargahi, Javad
• Primary Examiner(s): Martin, Laura
• Assistant Examiner(s): Nath, Suman K
• Application Number:
  US15/163,264
• Publication Number:
  US 20160265989A1
• Time in Patent Office: 595 Days
• Field of Search: 73862624, 73800, 73624
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G01B 11/18 using photoelastic elements
• CPC Class Codes: G01D 5/268 using optical fibres G01D5/28 - G01D5/38 take precedence
• CPC Class Codes: G01D 5/353 influencing the transmission properties of an optical fibre
• CPC Class Codes: G01L 1/16 using properties of piezoelectric devices
• CPC Class Codes: G01L 1/18 using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
• CPC Class Codes: G01L 1/24 by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
• CPC Class Codes: G01L 1/242 the material being an optical fibre
• CPC Class Codes: G01L 1/243 using means for applying force perpendicular to the fibre axis
• CPC Class Codes: G01M 11/085 the optical fiber being on or near the surface of the DUT

Abstract

A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted the sample surface. The sensing element includes: a deformable element defining a contact surface and a deformable section in register with the contact surface, the deformable section being deformable between an undeformed configuration and a deformed configuration; a deformation sensor operatively coupled to the deformable section for sensing and quantifying a deformation of the deformable section between the deformed and undeformed configurations, the deformation sensor being an optical deformation sensor; and a force sensor operatively coupled to the deformable element for sensing the contact force exerted on the contact surface.

Claims

1. A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted on said sensing element by said sample surface, said sensing element comprising:

a deformable element defining a deformable element first end and a substantially opposed deformable element second end, said deformable element defining a contact surface and a deformable section substantially in register with said contact surface between said deformable element first and second ends, said deformable section being deformable between an undeformed configuration and a deformed configuration, wherein said deformable section is in said undeformed configuration when no external forces are exerted on said contact surface and said deformable section is in said deformed configuration when said contact force is exerted on said contact surface;

a deformation sensor operatively coupled to said deformable section for sensing and quantifying a deformation of said deformable section between said deformed and undeformed configurations, said deformation sensor being an optical deformation sensor; and

a force sensor operatively coupled to said deformable element for sensing said contact force exerted on said contact surface;

wherein said deformation sensor includes a deformation sensor interrupted optical waveguide defining a deformation sensor waveguide first segment, a deformation sensor waveguide second segment and a deformation sensor gap extending therebetween, said deformation sensor gap being provided substantially in register with said deformable section, said deformation sensor waveguide first and second segments being optically coupled to each other across said deformation sensor gap and secured to said deformable element with said deformation sensor waveguide first and second segments fixed with respect to said deformable section substantially adjacent said deformation sensor gap, wherein said deformation sensor waveguide first and second segments move relative to each other as said deformable section is moved between said undeformed and deformed configurations to vary optical coupling therebetween by at least one of relative translation or rotation of the deformation sensor waveguide first and second segments relative to each other;

whereby, when said contact and sample surfaces are abutted against each other and biased toward each other

said contact force is created on said contact surface and sensed by said force sensor; and

said deformable section achieves said deformed configuration, said deformed configuration being sensed and quantified by said deformation sensor.

2. The sensing element as defined in claim 1, wherein an optical coupling between an angle between longitudinal axes of said deformation sensor waveguide first and second segments substantially adjacent said gap varies as said deformable section is moved between said undeformed and deformed configurations.

3. The sensing element as defined in claim 1, wherein said deformable element defines a waveguide receiving surface opposed to said contact surface, said deformation sensor interrupted optical waveguide being secured to said waveguide receiving surface.

4. The sensing element as defined in claim 3, wherein

said deformation sensor interrupted optical waveguide is a deformation sensor optical fiber, said deformation sensor waveguide first and second segments being respectively a deformation sensor fiber first segment and a deformation sensor fiber second segment;

and

said waveguide receiving surface defines a substantially elongated fiber receiving groove extending thereinto, said deformation sensor fiber first and second segments being provided in said fiber receiving groove.

5. The sensing element as defined in claim 4, wherein said deformation sensor waveguide first and second segments are bonded to said deformable element in said fiber receiving groove.

6. The sensing element as defined in claim 1, wherein

said deformation sensor waveguide first segment extends between said deformable element first end and said deformation sensor gap;

and

said deformation sensor waveguide second segment extends between said deformable element second end and said deformation sensor gap.

7. The sensing element as defined in claim 1, wherein said deformation sensor waveguide first segment extends between said deformable element first end and said deformation sensor gap, and said deformation sensor waveguide second segment extends from said deformation sensor gap towards said deformable element second end and is provided with a light reflective end surface opposed to said deformation sensor gap.

8. The sensing element as defined in claim 1, wherein

said deformable element defines an auxiliary light guiding element provided between said deformation sensor gap and said deformable element second end;

said deformation sensor waveguide first segment extends between said deformable element first end and said deformation sensor gap;

said deformation sensor waveguide second segment extends between said deformation sensor gap and said auxiliary light guiding element;

said deformation sensor interrupted optical waveguide defines a deformation sensor waveguide third segment extending between said deformable element first end and said auxiliary light guiding element;

said auxiliary light guiding element optically couples said deformation sensor waveguide second and third segments.

9. The sensing element as defined in claim 8, wherein said auxiliary light guiding element includes a pair of mirrors configured for changing a light direction propagation of light incoming at said mirrors by about 180 degrees.

10. The sensing element as defined in claim 8, wherein said deformation sensor waveguide second and third segments are in a substantially parallel and spaced apart relationship relative to each other.

11. The sensing element as defined in claim 1, further comprising

a base, said base and said deformable element extending in a substantially parallel and spaced apart relationship relative to each other;

and

a first spacing element extending between said base and said deformable element substantially adjacent said deformable element first end;

wherein said deformable element second end is movable with respect to said base.

12. The sensing element as defined in claim 1, further comprising

a base, said base and said deformable element extending in a substantially parallel and spaced apart relationship relative to each other;

a first spacing element extending between said base and said deformable element substantially adjacent said deformable element first end; and

a second spacing element extending between said base and said deformable element substantially adjacent said deformable element second end;

wherein in said undeformed configuration, said deformation sensor waveguide first and second segments have substantially coaxial optical axes.

13. The sensing element as defined in claim 1, wherein said deformation sensor includes an other deformation sensor interrupted optical waveguide defining an other deformation sensor waveguide first segment, an other deformation sensor waveguide second segment and an other deformation sensor gap extending therebetween, said other deformation sensor gap being provided substantially in register with said deformable section, said other deformation sensor waveguide first and second segments being optically coupled to each other across said deformation sensor gap and secured to said deformable element with said other deformation sensor waveguide first and second segments fixed with respect to said deformable section substantially adjacent said deformation sensor gap, whereby optical coupling between said other deformation sensor waveguide first and second segments varies as said deformable section is moved between said undeformed and deformed configurations through changes in alignment between said other deformation sensor waveguide first and second segments.

14. The sensing element as defined in claim 13, wherein

said deformation sensor interrupted optical waveguide and said other deformation sensor interrupted optical waveguide extend substantially parallel to each other in a laterally spaced apart relationship relatively to each other;

and

said deformation sensor gap and said other deformation sensor gap are longitudinally offset with respect to each other.

15. The sensing element as defined in claim 1, wherein said force sensor is an optical force sensor, said force sensor includes a force sensor interrupted optical waveguide defining a force sensor waveguide first segment, a force sensor waveguide second segment and a force sensor gap extending therebetween, said force sensor waveguide first segment extending through said first spacing element and being fixed relative thereto substantially adjacent said force sensor gap, said force sensor waveguide second segment being supported by said base and fixed relative thereto substantially adjacent said force sensor gap, said force sensor waveguide first and second segments being optically coupled to each other across said force sensor gap, said first spacing element including a first support resiliently deformable section provided between said base and said force sensor optical waveguide first segment, whereby, when said first support resiliently deformable section is compressed, said force sensor waveguide first segment is moved relative to said force sensor waveguide second segment, which changes optical coupling between said force sensor waveguide first and second segments.

16. The sensing element as defined in claim 15, wherein said force sensor interrupted optical waveguide is a force sensor optical fiber, said force sensor waveguide first and second segments being respectively a force sensor fiber first segment and a force sensor fiber second segment, said force sensor fiber first and second segments being inserted respectively through a first ferrule and a second ferrule, said first ferrule extending through said first spacing element and said second ferrule being supported by said base.

17. The sensing element as defined in claim 15, further comprising a second spacing element extending between said base and said deformable element, said first and second spacing elements being spaced apart from each other and respectively provided substantially adjacent said deformable element first and second ends.

18. The sensing element as defined in claim 1, wherein said force sensor includes a piezoresistive or a piezoelectric element provided between said first spacing element and said base.

19. A system for measuring a mechanical property of a sample defining a sample surface using a contact force by said sample surface, said system comprising:

the sensing element as defined in claim 1;

a light source optically coupled to said deformation sensor waveguide first segment opposed to said deformation sensor gap for emitting a source light in said deformation sensor waveguide first segment;

a light detector optically coupled to said deformation sensor waveguide second segment opposed to said deformation sensor gap for detecting an intensity of light received from said deformation sensor waveguide second segment;

a controller operatively coupled to said light detector for receiving said intensity of light received from said deformation sensor waveguide second segment when said source light is emitted in said deformation sensor waveguide first segment and computing a deformation of said deformable section using a power loss of said source light across said sensing element; and

an output element for outputting said deformation.

20. A system for measuring a mechanical property of a sample defining a sample surface using a contact force exerted on said sensing element by said sample surface, said system comprising:

the sensing element as defined in claim 15;

a light source optically coupled to said force sensor waveguide first segment opposed to said force sensor gap for emitting a source light in said force sensor waveguide first segment;

a light detector optically coupled to said force sensor waveguide second segment opposed to said force sensor gap for detecting an intensity of light received from said force sensor waveguide second segment;

a controller operatively coupled to said light detector for receiving said intensity of light received from said force sensor waveguide second segment when said source light is emitted in said force sensor waveguide first segment and computing said contact force exerted on said contact surface using a power loss of said source light across said sensing element; and

an output element for outputting said contact force.