ArticleIEEE robotics and automation letters2020
Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection.
Article in IEEE robotics and automation letters, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Shape Sensing of Continuum Manipulators with Fiber Bragg Grating Sensor Arrays: Accounting for Actuator Velocity Effects.IEEE sensors journal · 2025Article
- Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-tendon Catheter Kinematics.IEEE robotics and automation letters · 2025Article
- Article
- Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Review
- Shape Sensing and Kinematic Control of a Cable-Driven Continuum Robot Based on Stretchable Capacitive Sensors.Sensors (Basel, Switzerland) · 2024Article
- Sensing of Continuum Robots: A Review.Sensors (Basel, Switzerland) · 2024Review
- A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.Journal of engineering and science in medical diagnostics and therapy · 2024Article
- Unified Shape and External Load State Estimation for Continuum Robots.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Kinematic Modeling and Jacobian-based Control of the COAST Guidewire Robot.IEEE transactions on medical robotics and bionics · 2022Article
- Steering a Tendon-Driven Needle in High-Dose-Rate Prostate Brachytherapy for Patients with Pubic Arch Interference.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2021Article
- Data-Driven Shape Sensing of a Surgical Continuum Manipulator Using an Uncalibrated Fiber Bragg Grating Sensor.IEEE sensors journal · 2021Article
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Authors and funding
5 authors.
Funding
Abstract
Endovascular and endoscopic surgical procedures require micro-scale and meso-scale continuum robotic tools to navigate complex anatomical structures. In numerous studies, fiber Bragg grating (FBG) based shape sensing has been used for measuring the deflection of continuum robots on larger scales, but has proved to be a challenge for micro-scale and meso-scale robots with large deflections. In this paper, we have developed a sensor by mounting an FBG fiber within a micromachined nitinol tube whose neutral axis is shifted to one side due to the machining. This shifting of the neutral axis allows the FBG core to experience compressive strain when the tube bends. The fabrication method of the sensor has been explicitly detailed and the sensor has been tested with two tendon-driven micro-scale and meso-scale continuum robots with outer diameters of 0.41 mm and 1.93 mm respectively. The compact sensor allows repeatable and reliable estimates of the shape of both scales of robots with minimal hysteresis. We propose an analytical model to derive the curvature of the robot joints from FBG fiber strain and a static model that relates joint curvature to the tendon force. Finally, as proof-of-concept, we demonstrate the feasibility of our sensor assembly by combining tendon force feedback and the FBG strain feedback to generate reliable estimates of joint angles for the meso-scale robot.
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Registered trials
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