Shape sensing of miniature snake-like robots using optical fibers
File(s)
Author(s)
Type
Conference Paper
Abstract
Snake like continuum robots are increasingly used for minimally invasive surgery. Most robotic devices of this sort that have been reported to date are controlled in an open loop manner. Using shape sensing to provide closed loop feedback would allow for more accurate control of the robot's position and, hence, more precise surgery. Fiber Bragg Gratings, magnetic sensors and optical reflectance sensors have all been reported for this purpose but are often limited by their cost, size, stiffness or complexity of fabrication. To address this issue, we designed, manufactured and tested a prototype two-link robot with a built-in fiber-optic shape sensor that can deliver and control the position of a CO 2 -laser fiber for soft tissue ablation. The shape sensing is based on optical reflectance, and the device (which has a 4 mm outer diameter) is fabricated using 3D printing. Here we present proof-of-concept results demonstrating successful shape sensing - i.e. measurement of the angular displacement of the upper link of the robot relative to the lower link - in real time with a mean measurement error of only 0.7°.
Date Issued
2017-12-14
Date Acceptance
2017-07-24
Citation
IEEE International Conference on Intelligent Robots and Systems, 2017, pp.947-952
ISBN
9781538626825
ISSN
2153-0858
Publisher
IEEE
Start Page
947
End Page
952
Journal / Book Title
IEEE International Conference on Intelligent Robots and Systems
Copyright Statement
© 2017 IEEE
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Grant Number
EP/L014149/1
Source
IEEE International Conference on Intelligent Robots and Systems (IROS)
Publication Status
Published
Start Date
2017-09-24
Finish Date
2017-09-28
Coverage Spatial
Vancouver, BC, Canada