Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection

Chitalia, Yash; Deaton, Nancy J.; Jeong, Seokhwan; Rahman, Nahian; Desai, Jaydev P.

doi:10.1109/lra.2020.2969934

Cited by 45 publications

(36 citation statements)

References 27 publications

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“…Several studies have introduced continuum robots using hinge designs. As shown in Table 1, the hinge design can be classified into several types: (i) discrete joint [29][30][31], (ii) uni-directional compliant joint [32][33][34][35], (iii) bi-directional compliant joint [36][37][38][39][40][41], (iv) crossaxis compliant joint [42,43], (v) helical compliant joint [44][45][46], and (vi) symmetric compliant joint [47][48][49][50]. We selected a symmetric compliant joint, which has the advantage of high flexibility and strength for grasping and bending.…”

Section: Basic Designmentioning

confidence: 99%

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

et al. 2022

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Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.

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Section: Basic Designmentioning

confidence: 99%

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

et al. 2022

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“…Chitalia et al (2020) introduced fibre bragg grating‐based shape sensing (FBG‐BSS). In the proposed framework FBG sensor with a nitinol tube is mounted on one edge due to the welding of its centerline.…”

Section: Background Study On the Human‐robot Interaction To Detect Th...mentioning

confidence: 99%

“…The results show a mean error of 2.09 ± 0.49 mm among the catheter tip recorded and the specified location. The average time for achieving goals is 32.6 s. Chitalia et al (2020) introduced fibre bragg grating-based shape sensing (FBG-BSS). In the proposed framework FBG sensor with a nitinol tube is mounted on one edge due to the welding of its centerline.…”

Section: Background Study On the Human-robot Interaction To Detect Th...mentioning

confidence: 99%

Human muscle rigidity identification by human‐robot approximation characteristics framework on internet of things platform

2021

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In the health care system and Internet of Things (IoT) platform, medical care robotics is becoming one of the quickest expanding areas of robot technology. The integration of robotics and human knowledge identifies human muscle rigidity from the healthcare data obtained from the wearable sensor. In an IoT platform, Electromyography is a method used for evaluating and tracking the electrical activity of muscles. The transferring of human muscle rigidity to a robot facilitates the robot to obtain resistive management initiatives in a useful and effective way while carrying out physical interaction activities in unstructured surroundings. The major challenges to overcome the unpredictability during physical interaction allow a robot to realize the individual behaviour with adaptability and versatility of muscles. Therefore, in this article, Human‐Robot Approximation Characteristics Framework (HRACF) has been proposed for developing physiological communication between humans and robots. HRACF permits robots to understand differential resistive abilities of muscles from human presentations. The pulses collected from Electromyography are used to retrieve human arm muscle rigidity during activity presentation. The characteristics of motion and rigidity are concurrently modelled using an estimation and approximation model with a logistic regression obtained by IoT devices. The analysed human arm muscle rigidity is then connected to the robot impedance regulator. HR model uses an optimized resistive approximator to measure the creative variables of the robot and continue driving to monitor the quoted pathways at the time of interaction. The relationship between motion data and rigidity data is systematically coded in the HR model. HRACF makes it possible to detect uncertainties through space and time that facilitates the robot to meet rigidity specification to 98[Nm/Rad] and error rate to 0.15% during physical interaction.

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“…However, most FBG-based sensors are designed for laparoscopic robots, needles, and catheters that have quite a different size and function requirement from the endoscopic surgical robots (especially for sigmoidoscopy or colonoscopy). [167]. These two sensors [167,168] had been demonstrations on the lab platform without tissue manipulation, which misses studies in a real application scenario.…”

Section: Current Trend and Gap: Fbgs In Rmismentioning

confidence: 99%

“…[167]. These two sensors [167,168] had been demonstrations on the lab platform without tissue manipulation, which misses studies in a real application scenario.…”

Section: Current Trend and Gap: Fbgs In Rmismentioning

confidence: 99%

Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems

Lai¹

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Towards FBG-Based Shape Sensing for Micro-Scale and Meso-Scale Continuum Robots With Large Deflection

Cited by 45 publications

References 27 publications

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

Human muscle rigidity identification by human‐robot approximation characteristics framework on internet of things platform

Fibre Bragg Grating (FBG)-based force and pose sensing for endoscopic robotic systems

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