Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors
Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors
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DOI：
10.1109/tmech.2013.2269836
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发表时间：
2014-08-01
影响因子：
6.4
通讯作者：
Misra, Sarthak
中科院分区：
文献类型：
--
作者：
Roesthuis, Roy J.;Kemp, Marco;Misra, Sarthak
我们提出了一个原型的灵活的镍钛合金针（φ 1.0毫米和长度172毫米）集成了12个光纤布拉格光栅（FBG）传感器的阵列。这些传感器测量轴向应变，从而能够计算针曲率。我们重建的三维（3-D）针形状的曲率。在自由空间中偏转针的情况下进行实验。实验与梁理论模型的最大误差分别为0.20 mm（单弯曲面内挠度）、0.51 mm（双弯曲面内挠度）和1.66 mm（面外挠度）。我们还描述了基于运动学和基于力学的模型，用于预测插入软组织期间的3-D针形状。我们进行的实验中，针插入到软组织模拟物，并使用FBG传感器重建的3-D针的形状。我们将重建的针形与从相机图像和我们的模型获得的偏转进行比较。实验与摄像机图像之间的最大误差为0.74 mm。运动学模型和力学模型与摄像机图像之间的最大误差分别为3.77 mm和2.20 mm。本研究表明，偏转模型和与FBG传感器集成的针头有可能与临床成像模式结合使用，以实现准确的针头转向。
We present a prototype of a flexible nitinol needle (phi 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.