Large Deflection Shape Sensing of a Continuum Manipulator for Minimally-Invasive Surgery.
Large Deflection Shape Sensing of a Continuum Manipulator for Minimally-Invasive Surgery.
复制标题
DOI：
10.1109/icra.2015.7139000
复制
发表时间：
2015-05-26
期刊：
影响因子：
--
通讯作者：
Armand M
中科院分区：
文献类型：
--
作者：
Liu H;Farvardin A;Pedram SA;Iordachita I;Taylor RH;Armand M
利用光纤布拉格光栅（FBG）阵列的形状传感技术可以实时跟踪和控制用于微创手术的灵巧连续体机械手（DCM）。对于许多手术应用，DCM可能需要以比当前形状感测方法可以检测到的曲率大得多的曲率来操作。本文提出了一种新型的形状传感器，它可以检测曲率半径为15毫米的35毫米长的DCM。为此，我们使用FBG传感器沿着与镍钛诺线作为支撑基板，以形成三角形横截面。为了验证，我们将传感器组装在DCM的壁内。实验结果表明，该传感器可以检测DCM的曲率，平均误差为3.14%。
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%.