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Related Experiment Video

Updated: Dec 28, 2025

Measurement of Tension Release During Laser Induced Axon Lesion to Evaluate Axonal Adhesion to the Substrate at Piconewton and Millisecond Resolution

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Published on: May 27, 2013

Laser-Profiled Continuum Robot with Integrated Tension Sensing for Simultaneous Shape and Tip Force Estimation.

Anzhu Gao^1,2,3, Ning Liu³, Mali Shen³

¹Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, P.R. China.

|February 21, 2020

Summary

This study introduces optical fibers for sensing and actuation in miniaturized continuum robots, enabling safe navigation in delicate procedures. The novel method accurately measures shape and forces, crucial for minimally invasive interventions.

Keywords:

continuum robot endoluminal intervention modeling shape and force sensing tension-sensing cable

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Published on: April 25, 2019

Area of Science:

Robotics
Biomedical Engineering
Sensing Technologies

Background:

Miniaturized continuum robots are vital for minimally invasive endoluminal interventions.
Accurate shape and tip contact force sensing are critical for safe navigation within tortuous lumens.
Conventional sensing methods are limited by the size constraints of miniaturized devices.

Purpose of the Study:

To develop a novel sensing and actuation method for miniaturized continuum robots using optical fibers.
To enable simultaneous shape and tip contact force sensing without increasing device dimensions.
To enhance the safety and efficacy of endoluminal interventions.

Main Methods:

Utilizing optical fibers for both actuation and integrated tension/shape/force sensing.
Implementing a model-based method with structural compensation for direct cable tension measurement.
Developing a comprehensive model accounting for segment differences, cable crosstalk, and external forces.

Main Results:

The proposed method accurately and reliably estimates the continuum robot's shape and external tip forces.
Structural compensation effectively filters out disturbances from the flexible shaft.
Validation confirms the accuracy of the model-based sensing approach.

Conclusions:

Optical fibers offer a viable solution for integrated sensing and actuation in miniaturized continuum robots.
The model-based method enhances the precision and safety of robots used in endoluminal interventions.
This technology advances the capabilities of robotic systems for minimally invasive procedures.