On the effect of vibration on shape sensing of continuum manipulators using fiber Bragg gratings

Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time- and frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM.

[1]  Russell H. Taylor,et al.  A highly sensitive fiber Bragg Grating shape sensor for continuum manipulators with large deflections , 2017, 2017 IEEE SENSORS.

[2]  Sarthak Misra,et al.  Force sensing in continuum manipulators using fiber Bragg grating sensors , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[3]  Sarthak Misra,et al.  3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors , 2013, 2013 IEEE International Conference on Robotics and Automation.

[4]  Xiaojin Zhu,et al.  Spatial shape reconstruction using orthogonal fiber Bragg grating sensor array , 2012 .

[5]  Ryan J. Murphy,et al.  Design and characterization of a debriding tool in robot-assisted treatment of osteolysis , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[6]  S. Misra,et al.  Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors , 2014, IEEE/ASME Transactions on Mechatronics.

[7]  Jenny Dankelman,et al.  Error Analysis of FBG-Based Shape Sensors for Medical Needle Tracking , 2014, IEEE/ASME Transactions on Mechatronics.

[8]  Hamid Foroughi,et al.  A novel study of temperature effects on the viscoelastic behavior of articular cartilage , 2017, 1710.05467.

[9]  Hamid Foroughi,et al.  Numerical study of temperature effects on the poro-viscoelastic behavior of articular cartilage. , 2018, Journal of the mechanical behavior of biomedical materials.

[10]  I. Iordachita,et al.  FBG-based large deflection shape sensing of a continuum manipulator: Manufacturing optimization , 2016, 2016 IEEE SENSORS.

[11]  Russell H. Taylor,et al.  A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator , 2017, IEEE Robotics and Automation Letters.

[12]  R. J. Black,et al.  Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions , 2010, IEEE/ASME Transactions on Mechatronics.

[13]  Dimitris G. Manolakis,et al.  Applied Digital Signal Processing: Theory and Practice , 2011 .

[14]  Taesung Kim,et al.  Development and Evaluation of Tri-Axial Fiber Bragg Grating Force Sensor for Catheter , 2017 .

[15]  Jenny Dankelman,et al.  Accuracy of needle position measurements using fiber Bragg gratings , 2012, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[16]  Rajnikant V. Patel,et al.  Curvature, Torsion, and Force Sensing in Continuum Robots Using Helically Wrapped FBG Sensors , 2016, IEEE Robotics and Automation Letters.

[17]  Sarthak Misra,et al.  Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[18]  Russell H. Taylor,et al.  Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors , 2015, IEEE Sensors Journal.

[19]  Toshio Fukuda,et al.  Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey , 2017, IEEE Transactions on Biomedical Engineering.

[20]  Russell H. Taylor,et al.  Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[21]  Pierre E. Dupont,et al.  FBG-based shape sensing tubes for continuum robots , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[22]  Victor Lambin Iezzi,et al.  Enhancement of accuracy in shape sensing of surgical needles using optical frequency domain reflectometry in optical fibers. , 2017, Biomedical optics express.