Stretchable optical fibre sensor for soft surgical robot shape reconstruction

• Autorzy: He Yanlin , Gao Likun , Bai Yuchen , Zhu Hangwei , Sun Guangkai , Zhu Lianqing , Xu Haidong

Identyfikatory

DOI

10.37190/oa210410

• Języki publikacji: EN

Abstrakty

EN

Soft robotics presents several advantages in the field of minimally invasive surgery. However, existing methods have not fully addressed problems related to soft robot shape sensing due to the complex motion of soft robots and the stretchable nature of the soft materials employed. This study demonstrates the shape sensing of a soft robot with a helically embedded stretchable fibre Bragg grating (FBG)-based optical fibre sensor. Unlike straight FBG embedding configurations, this unique helical configuration prevents sensor dislocation, supports material stretchability, and facilitates shape detection for various soft-robot movements. The proposed soft-robot design principle and FBG sensor are analysed and their fabrication process, which includes an FBG-written optical fibre sensor, is described. Bending experiments are conducted with the soft robot, the wavelengths of FBG sensors at different bending and telescopic movement states are obtained, and the soft-robot shape is reconstructed. Experimental results demonstrate that the maximum error between FBG sensing and the actual bending state is less than 2.5%, validating the feasibility and effectiveness of the proposed helical stretchable FBG sensing method for the shape measurement of soft robots. These results indicate the potential and applicability of this shape-sensing approach in biomedical research.

Słowa kluczowe

EN

soft robotics; minimally invasive surgery; shape measurement; stretchable structure; optical fibre

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Optica Applicata
• Rocznik: 2021
• Tom: Vol. 51, nr 4
• Strony: 589--604
• Opis fizyczny: Bibliogr. 30 poz., rys., tab.

Twórcy

autor

He Yanlin

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Gao Likun

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Bai Yuchen

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Zhu Hangwei

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Sun Guangkai

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Zhu Lianqing

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China
• Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science and Technology University, Beijing, 100016, China

autor

Xu Haidong

• Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science and Technology University, Beijing, 100192, China

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