Haptic feedback is absent in flexible endoscopic surgical robots due to the size constraint of installing sensors on the small robotic arms. Besides, inherent hysteresis caused by the nonlinear friction between tendons and sheaths makes it hard to estimate the distal force by modeling. In this work, we addressed this challenge by proposing a new three-axial force sensor. This standalone device can be seamlessly integrated into the endoscopic robotic arm. Three optical fibers with fiber Bragg gratings (FBGs) are embedded in the sensing structure, where one is located at the center hole of the structure (ø 1.4 mm) and the other two are eccentrically placed around the structure at 90° apart from each other. This device can measure the pulling force and lateral forces of an articulated surgical instrument. Mechanics analysis has been studied to reveal the link between FBGs’ wavelength shifts and forces caused by the elongation and the bending with a temperature-compensation feature. The sensor has a lateral force sensitivity of 838.386 pm/N, with a measurement resolution of 1.19 mN. Performance comparison with a commercial force sensor Nano17 was made, with measurement errors from 4.50% to 6.18%. In the ex vivo tests, we teleoperated the sensorized grasper to pull, steer, and lift a piece of pig colon tissue. The tool–tissue interaction forces measured by the force sensor were displayed on the computer screen in real time. In addition to the endoscopic robots, the force sensor can also be integrated with other surgical robots such as laparoscopic robots and catheters.

Optical fibers are being widely utilized as radiation sensors and dosimeters. Benefiting from the rapidly growing optical fiber manufacturing and material engineering, advanced optical fibers have evolved significantly by using functional structures and materials, promoting their detection accuracy and usage scenarios as radiation sensors. This paper summarizes the current development of optical fiber-based radiation sensors. The sensing principles of both extrinsic and intrinsic optical fiber radiation sensors, including radiation-induced attenuation (RIA), radiation-induced luminescence (RIL), and fiber grating wavelength shifting (RI-GWS), were analyzed. The relevant advanced fiber materials and structures, including silica glass, doped silica glasses, polymers, fluorescent and scintillator materials, were also categorized and summarized based on their characteristics. The fabrication methods of intrinsic all-fiber radiation sensors were introduced, as well. Moreover, the applicable scenarios from medical dosimetry to industrial environmental monitoring were discussed. In the end, both challenges and perspectives of fiber-based radiation sensors and fiber-shaped radiation dosimeters were presented.

With the increasing demand of achieving comprehensive perception in every aspect of life, optical fibers have shown great potential in various applications due to their highly-sensitive, highly-integrated, flexible and real-time sensing capabilities. Among various sensing mechanisms, plasmonics based fiber-optic sensors provide remarkable sensitivity benefiting from their outstanding plasmon–matter interaction. Therefore, surface plasmon resonance (SPR) and localized SPR (LSPR)-based hybrid fiber-optic sensors have captured intensive research attention. Conventionally, SPR- or LSPR-based hybrid fiber-optic sensors rely on the resonant electron oscillations of thin metallic films or metallic nanoparticles functionalized on fiber surfaces. Coupled with the new advances in functional nanomaterials as well as fiber structure design and fabrication in recent years, new solutions continue to emerge to further improve the fiber-optic plasmonic sensors’ performances in terms of sensitivity, specificity and biocompatibility. For instance, 2D materials like graphene can enhance the surface plasmon intensity at the metallic film surface due to the plasmon–matter interaction. Two-dimensional (2D) morphology of transition metal oxides can be doped with abundant free electrons to facilitate intrinsic plasmonics in visible or near-infrared frequencies, realizing exceptional field confinement and high sensitivity detection of analyte molecules. Gold nanoparticles capped with macrocyclic supramolecules show excellent selectivity to target biomolecules and ultralow limits of detection. Moreover, specially designed microstructured optical fibers are able to achieve high birefringence that can suppress the output inaccuracy induced by polarization crosstalk and meanwhile deliver promising sensitivity. This review aims to reveal and explore the frontiers of such hybrid plasmonic fiber-optic platforms in various sensing applications.

We demonstrate a refractive index sensor based on a long period grating (LPG) inscribed in a special photosensitive microfiber with double-clad profile. The fiber is tapered gradually enough to ensure the adiabaticity of the fiber taper. In other words, the resulting insertion loss is sufficiently small. The boron and germanium co-doped inner cladding makes it suitable for inscribing gratings into its tapered form. The manner of wavelength shift for refractive indices (RIs) differs from conventional LPG, and the refractive index detection limit is 1.67 × 10⁻⁵.