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Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection.

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Researchers developed a novel Fiber Bragg Grating (FBG) sensor for micro-scale continuum robots. This compact sensor enables reliable shape sensing in minimally invasive surgical tools, overcoming previous challenges with large deflections.

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Materials Science

Background:

  • Continuum robots are essential for minimally invasive surgery, requiring precise navigation within complex anatomy.
  • Fiber Bragg Grating (FBG) shape sensing is effective for large-scale robots but faces challenges in micro/meso-scale applications with significant deflections.

Purpose of the Study:

  • To develop and validate a novel, compact FBG-based shape sensing system for micro- and meso-scale continuum robots.
  • To address the limitations of existing shape sensing technologies in small-scale continuum robotics.

Main Methods:

  • A new sensor was fabricated by embedding an FBG fiber within a micromachined nitinol tube with a shifted neutral axis.
  • The sensor's ability to detect compressive strain during bending was leveraged for shape sensing.
  • The sensor was integrated and tested on two tendon-driven continuum robots (0.41 mm and 1.93 mm outer diameters).
  • An analytical model was developed to correlate FBG strain to joint curvature, and a static model related curvature to tendon force.

Main Results:

  • The micromachined FBG sensor demonstrated repeatable and reliable shape estimation for both micro- and meso-scale robots.
  • The sensor exhibited minimal hysteresis, improving accuracy in shape measurement.
  • The study successfully demonstrated a proof-of-concept combining FBG strain and tendon force feedback for accurate joint angle estimation in the meso-scale robot.

Conclusions:

  • The developed FBG sensor effectively overcomes previous limitations in shape sensing for small-scale continuum robots.
  • This technology offers a promising solution for enhanced control and navigation in micro- and meso-scale robotic surgery.
  • The sensor's compact design and reliable performance pave the way for advanced minimally invasive surgical tools.