FBG-based large deflection shape sensing of a continuum manipulator: Manufacturing optimization

Shahriar Sefati, Farshid Alambeigi, Iulian Iordachita, Ryan J. Murphy, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Real-time large deflection sensing of continuum dexterous manipulators (CDM) is essential and challenging for many minimally invasive surgery (MIS) applications. To this end, the feasibility of using Fiber Bragg Grating (FBG) sensors to detect large CDM deflections was demonstrated. Previous studies by our group proposed attaching an FBG array along with two nitinol (NiTi) wires as substrates to form a triangular cross section capable of large deflection detection for a 35 mm CDM. The strenuous fabrication procedure, however, relies on trial and error to ensure accurate attachment of components. In this paper, we propose a novel design for assembling large deflection FBG sensors utilizing a custom-design three-lumen polycarbonate tube with circular cross section. The proposed design eliminates fabrication challenges by embedding the FBG array and NiTi wires inside the tube in a more robust, repeatable, time-efficient and cost-effective (compared to multicore fibers) manner. Calibration experiments of the sensor assembly alone and inside the CDM indicate consistent linear (R2∼0.99) wavelength-curvature relationship. Experimental results show 3.3% error in curvature detection.

Original languageEnglish (US)
Title of host publicationIEEE Sensors, SENSORS 2016 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479982875
StatePublished - Jan 5 2017
Event15th IEEE Sensors Conference, SENSORS 2016 - Orlando, United States
Duration: Oct 30 2016Nov 2 2016

Publication series

NameProceedings of IEEE Sensors
ISSN (Print)1930-0395
ISSN (Electronic)2168-9229


Other15th IEEE Sensors Conference, SENSORS 2016
Country/TerritoryUnited States


  • Continuum Manipulator
  • Fiber Bragg Grating
  • Minimally Invasive Surgery
  • Shape Sensing

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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