TY - GEN
T1 - FBG-based large deflection shape sensing of a continuum manipulator
T2 - 15th IEEE Sensors Conference, SENSORS 2016
AU - Sefati, Shahriar
AU - Alambeigi, Farshid
AU - Iordachita, Iulian
AU - Murphy, Ryan J.
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/1/5
Y1 - 2016/1/5
N2 - 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.
AB - 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.
KW - Continuum Manipulator
KW - Fiber Bragg Grating
KW - Minimally Invasive Surgery
KW - Shape Sensing
UR - http://www.scopus.com/inward/record.url?scp=85010982901&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010982901&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2016.7808910
DO - 10.1109/ICSENS.2016.7808910
M3 - Conference contribution
AN - SCOPUS:85010982901
T3 - Proceedings of IEEE Sensors
BT - IEEE Sensors, SENSORS 2016 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 30 October 2016 through 2 November 2016
ER -