TY - GEN
T1 - On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings
AU - Sefati, Shahriar
AU - Alambeigi, Farshid
AU - Iordachita, Iulian
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Funding Information:
*Research supported by NIH/NIBIB grant R01EB016703 and Johns Hopkins internal funds.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/4/6
Y1 - 2018/4/6
N2 - 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.
AB - 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.
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U2 - 10.1109/ISMR.2018.8333303
DO - 10.1109/ISMR.2018.8333303
M3 - Conference contribution
AN - SCOPUS:85050607094
T3 - 2018 International Symposium on Medical Robotics, ISMR 2018
SP - 1
EP - 6
BT - 2018 International Symposium on Medical Robotics, ISMR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Symposium on Medical Robotics, ISMR 2018
Y2 - 1 March 2018 through 3 March 2018
ER -