Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery
	Liu H(刘浩); Farvardin, Amirhossein; Pedram, Sahba Aghajani; Iordachita, Iulian; Taylor, Russell H.; Armand, Mehran
	2015
会议名称	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
会议日期	May 26-30, 2015
会议地点	Seattle, WA, United states
页码	201-206
中文摘要	Shape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shape sensing methods can detect. This paper proposes a novel shape sensor, which can detect a radius of curvature of 15 mm for a 35 mm long DCM. For this purpose, we used FBG sensors along with nitinol wires as the supporting substrates to form a triangular cross section. For verification, we assembled the sensor inside the wall of the DCM. Experimental results indicate that the proposed sensor can detect the DCM's curvature with an average error of 3.14%.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings - IEEE International Conference on Robotics and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1050-4729
ISBN号	978-1-4799-6923-4
WOS记录号	WOS:000370974900027
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/16867]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu H,Farvardin, Amirhossein,Pedram, Sahba Aghajani,et al. Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery[C]. 见:2015 IEEE International Conference on Robotics and Automation, ICRA 2015. Seattle, WA, United states. May 26-30, 2015.