Spiral FBG sensors-based contact detection for confocal laser endomicroscopy

Endomicroscopy is an emerging non-invasive technique for real-time diagnosis of intraluminal malignancies. For accurate microscopic steering of the imaging probe in vivo, a miniature continuum manipulator has been developed to perform large-area optical biopsy. To keep images in focus, consistent contact with proper force and orientation between the imaging probe tip and the targeted tissue is required. This paper presents a spiral FBG sensors-based sensing method to simultaneously measure the force and torque exerted at the tip of the probe when contacting with the tissue. The embodiment consists of a tapered substrate with a hollow inner lumen for holding the imaging probe, and three optical fibres equally and spirally distributed on the outer surface of the substrate. Each fibre has two FBG sensors to detect small strain changes at two different cross-sections. The modelling process is explained in detail, and a learning-based measurement decoupling method is also provided. In vitro experiments are performed to collect cellular images with simultaneous force and torque sensing, demonstrating the practical value of the technique.