On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Shahriar Sefati, Farshid Alambeigi, Iulian Iordachita, Russell H. Taylor, Mehran Armand

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

Abstract

Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time- A nd frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM.

Original languageEnglish (US)
Title of host publication2018 International Symposium on Medical Robotics, ISMR 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538625125
DOIs
StatePublished - Apr 6 2018
Event2018 International Symposium on Medical Robotics, ISMR 2018 - Atlanta, United States
Duration: Mar 1 2018Mar 3 2018

Publication series

Name2018 International Symposium on Medical Robotics, ISMR 2018
Volume2018-January

Other

Other2018 International Symposium on Medical Robotics, ISMR 2018
CountryUnited States
CityAtlanta
Period3/1/183/3/18

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Biomedical Engineering
  • Artificial Intelligence

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