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

ABSTRACT: Endovascular and endoscopic surgical procedures require micro-scale and meso-scale continuum robotic tools to navigate complex anatomical structures. In numerous studies, fiber Bragg grating (FBG) based shape sensing has been used for measuring the deflection of continuum robots on larger scales, but has proved to be a challenge for micro-scale and meso-scale robots with large deflections. In this paper, we have developed a sensor by mounting an FBG fiber within a micromachined nitinol tube whose neutral axis is shifted to one side due to the machining. This shifting of the neutral axis allows the FBG core to experience compressive strain when the tube bends. The fabrication method of the sensor has been explicitly detailed and the sensor has been tested with two tendon-driven micro-scale

SUBMITTER: Chitalia Y 

PROVIDER: S-EPMC7111435 | biostudies-literature | 2020 Apr

REPOSITORIES: biostudies-literature