FBG sensor devices for spatial shape detection of intelligent colonoscope

Zhang, Lunwei; Qian, Jinwu; Shen, Linyong; Zhang, Yanan

doi:10.1109/robot.2004.1307253

Cited by 21 publications

(10 citation statements)

References 2 publications

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“…This approach separates the sensors from the robot body while using minimum usage of structure lumen and providing the potential of inexpensive fabrication and maintenance (Ryu and Dupont, 2014). After the 3D shape sensing concept of a colonoscope was suggested in (Lunwei et al, 2004), Yi et al presented the details in (Yi et al, 2007) as follows. A shape memory alloy of 0.76 mm in diameter was equipped with four fibers with five FBGs each.…”

Section: Fiber Optic-based Shape Reconstruction Processesmentioning

confidence: 99%

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

et al. 2021

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Soft and continuum robots are transforming medical interventions thanks to their flexibility, miniaturization, and multidirectional movement abilities. Although flexibility enables reaching targets in unstructured and dynamic environments, it also creates challenges for control, especially due to interactions with the anatomy. Thus, in recent years lots of efforts have been devoted for the development of shape reconstruction methods, with the advancement of different kinematic models, sensors, and imaging techniques. These methods can increase the performance of the control action as well as provide the tip position of robotic manipulators relative to the anatomy. Each method, however, has its advantages and disadvantages and can be worthwhile in different situations. For example, electromagnetic (EM) and Fiber Bragg Grating (FBG) sensor-based shape reconstruction methods can be used in small-scale robots due to their advantages thanks to miniaturization, fast response, and high sensitivity. Yet, the problem of electromagnetic interference in the case of EM sensors, and poor response to high strains in the case of FBG sensors need to be considered. To help the reader make a suitable choice, this paper presents a review of recent progress on shape reconstruction methods, based on a systematic literature search, excluding pure kinematic models. Methods are classified into two categories. First, sensor-based techniques are presented that discuss the use of various sensors such as FBG, EM, and passive stretchable sensors for reconstructing the shape of the robots. Second, imaging-based methods are discussed that utilize images from different imaging systems such as fluoroscopy, endoscopy cameras, and ultrasound for the shape reconstruction process. The applicability, benefits, and limitations of each method are discussed. Finally, the paper draws some future promising directions for the enhancement of the shape reconstruction methods by discussing open questions and alternative methods.

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Section: Fiber Optic-based Shape Reconstruction Processesmentioning

confidence: 99%

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

et al. 2021

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“…There is no impact on the estimation of bending and torsion as tensile and shearing are set together in the bias parameter which feature the unexploited parameters together. This choice meets the need to have a good cost-accuracy trade-off and the possibility, already developed in the litterature, to instrument a beam with four strain sensors on the cross sections [43,48,28,19,21].…”

Section: Beam Configuration From Strain Measuresmentioning

confidence: 99%

“…The values of β i are set to the following values: β 1 = β, β 2 = −β, β 3 = β, β 4 = −β with β ∈]0, π/2[. The values of α i are spaced with the same angle π/2 as present in litterature [43,48,28,19,21]: α 1 = 0, α 2 = π 2 , α 3 = π, α 4 = 3π 2 . The matrix A has then the following expression:…”

Section: System Expressionmentioning

confidence: 99%

3D small strain large deflection beam shape sensing including poisson effect

Schaefer

Chagnon

Moreau–Gaudry

2020

Engineering Structures

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This article presents a new method to monitor beam shapes from strain measures. The beam is instrumented with strain sensors placed on its surface with an angle of orientation. The method developed is a 3D large deflection beam shape reconstruction based on a beam model incorporating Poisson effect and is thus able to take into account bending, torsion, shearing and tensile-compression deformations. Exemple of application on circular beams is conducted with beam shape reconstructed from FEM simulations strain measures. Results show that, compared to beam shape sensing methods using axial strain, the beam shape method proposed provides a significant increase in the reconstruction accuracy when the beam is subject to deformations containing torsion.

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“…Using commercially available SSMF, FBGs and interrogator systems has been particularly of interest to develop application specific FOSS. Many shape-sensing research projects have used a triangular FBG arrangement for shape sensing [42,[44][45][46][47][48][96][97][98][99], helically wrapped single fibres [100], parallel fibres [101] and an orthogonal fibre arrangement [102,103]. A comprehensive review of these works, which summarises different shape sensing approaches using standard single-mode, is reported in literature [85].…”

Section: Standard Single-mode Fibresmentioning

confidence: 99%

Recent developments in fibre optic shape sensing

et al. 2018

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This paper presents a comprehensive critical review of technologies used in the development of fibre optic shape sensors (FOSSs). Their operation is based on multi-dimensional bend measurements using a series of fibre optic sensors. Optical fibre sensors have experienced tremendous growth from simple bend sensors in 1980s to full three-dimensional FOSSs using multicore fibres in recent years. Following a short review of conventional contact-based shape sensor technologies, the evolution trend and sensing principles of FOSSs are presented. This paper identifies the major optical fibre technologies used for shape sensing and provides an account of the challenges and emerging applications of FOSSs in various industries such as medical robotics, industrial robotics, aerospace and mining industry.

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FBG sensor devices for spatial shape detection of intelligent colonoscope

Cited by 21 publications

References 2 publications

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

3D small strain large deflection beam shape sensing including poisson effect

Recent developments in fibre optic shape sensing

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