TY - GEN
T1 - Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery
AU - Liu, Hao
AU - Farvardin, Amirhossein
AU - Pedram, Sahba Aghajani
AU - Iordachita, Iulian
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - Shape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shape sensing methods can detect. This paper proposes a novel shape sensor, which can detect a radius of curvature of 15 mm for a 35 mm long DCM. For this purpose, we used FBG sensors along with nitinol wires as the supporting substrates to form a triangular cross section. For verification, we assembled the sensor inside the wall of the DCM. Experimental results indicate that the proposed sensor can detect the DCM's curvature with an average error of 3.14%.
AB - Shape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shape sensing methods can detect. This paper proposes a novel shape sensor, which can detect a radius of curvature of 15 mm for a 35 mm long DCM. For this purpose, we used FBG sensors along with nitinol wires as the supporting substrates to form a triangular cross section. For verification, we assembled the sensor inside the wall of the DCM. Experimental results indicate that the proposed sensor can detect the DCM's curvature with an average error of 3.14%.
UR - http://www.scopus.com/inward/record.url?scp=84938235960&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938235960&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139000
DO - 10.1109/ICRA.2015.7139000
M3 - Conference contribution
AN - SCOPUS:84938235960
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 201
EP - 206
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -